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Use gimbal attitude for the camera feedback when available

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The CameraFeedback module used only the vehicle attitude for the camera orientation so far. With this change, the gimbal_device_attitude_status is used to compute the global camera orientation when a gimbal is used.
This commit is contained in:
Michael Schaeuble
2022-11-14 09:26:14 -05:00
committed by Claudio Micheli
parent 640f9cc801
commit d7fde289de
4 changed files with 39 additions and 7 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -3128,7 +3128,7 @@ MavlinkReceiver::handle_message_gimbal_device_attitude_status(mavlink_message_t
mavlink_msg_gimbal_device_attitude_status_decode(msg, &gimbal_device_attitude_status_msg);
gimbal_device_attitude_status_s gimbal_attitude_status{};
gimbal_attitude_status.timestamp = static_cast<uint64_t>(gimbal_device_attitude_status_msg.time_boot_ms) * 1000;
gimbal_attitude_status.timestamp = hrt_absolute_time();
gimbal_attitude_status.target_system = gimbal_device_attitude_status_msg.target_system;
gimbal_attitude_status.target_component = gimbal_device_attitude_status_msg.target_component;
gimbal_attitude_status.device_flags = gimbal_device_attitude_status_msg.flags;