fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 04:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

vmount/navigator/mavlink: gimbal v2 changes

Browse Source 
This is a collection of commits all having to do with changes in the
Mavlink gimbal v2 protocol as described in:
https://mavlink.io/en/services/gimbal_v2.html
This commit is contained in:
Julian Oes
2021-02-17 13:54:34 -05:00
committed by Daniel Agar
parent 422bac4bfd
commit e6b1775bb6
31 changed files with 790 additions and 285 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_block.cpp
+7 -1
View File
@@ -96,6 +96,8 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_CONTROL_VIDEO:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
case NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
case NAV_CMD_DO_SET_ROI:
case NAV_CMD_DO_SET_ROI_LOCATION:
case NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
@@ -105,6 +107,7 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
case NAV_CMD_SET_CAMERA_MODE:
case NAV_CMD_SET_CAMERA_ZOOM:
case NAV_CMD_SET_CAMERA_FOCUS:
return true;
case NAV_CMD_DO_VTOL_TRANSITION:
@@ -472,7 +475,10 @@ MissionBlock::issue_command(const mission_item_s &item)
} else {
_action_start = hrt_absolute_time();
// mission_item -> vehicle_command
// This is to support legacy DO_MOUNT_CONTROL as part of a mission.
if (item.nav_cmd == NAV_CMD_DO_MOUNT_CONTROL) {
_navigator->acquire_gimbal_control();
}
// we're expecting a mission command item here so assign the "raw" inputs to the command
// (MAV_FRAME_MISSION mission item)