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vmount/navigator/mavlink: gimbal v2 changes

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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
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src/modules/navigator/mission_feasibility_checker.cpp
+6
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@@ -262,6 +262,8 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
@@ -271,6 +273,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: item %i: unsupported cmd: %d", (int)(i + 1),
@@ -389,6 +392,8 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW &&
missionitem.nav_cmd != NAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
@@ -398,6 +403,7 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
}
}