The server will now attempt to provide files from the primary
path RootPath and then the alternate AltRootPath. This alows
a layered approch to file service.
Setting the RootPath to an SD card and the AltRootPath to a
ROM FS will allow a user to provide an updated uavcan firware
file that will be used instead of the baked in one without
any copying.
The path as been removed from the interactions with nodes.
There by supporting Non-compliant nodes that could not
handle the specified path length.
The vitrual pathing has been moved into the FDCache.
Previously, we did not set a remote port which meant that the default
remote port 14550 was used. This meant that the mavlink instance
talking to the gimbal was interfering with the connection to the ground
station (on 14550).
We use the stabilize param to set the input. Like this the input flags
can be changed using the configure message later, and then eventually
used in the output.
This includes several changes to fix POI when used with MAVLink gimbal
v2 input:
- Correctly set capability flag that POI is supported.
- Keep lat/lon and calculate attitude on each cycle, instead of only
once on init.
- Always publish gimbal manager information, with or withoug gimbal v2
device.
We should be using gimbal_manager_information and not
gimbal_device_information. Plus, this updates the fields and flags
according to the MAVLink changes.
This should fix the case where AUX gimbals don't work anymore when
gimbal input is mavlink gimbal v2.
The fix is mostly to take care against NAN inputs.
This is a hotfix to restore gimbal functionality for SITL set-ups that
are set to MNT_MODE_IN 4 (gimbal protocol v2) but still need to accept
gimbal v1 commands that might be part of a mission, e.g. uploaded by
MAVSDK.
This is a hack to make sure the messages from the gimbal arrive at other
links (e.g. the ground station). It means that the gimbal does not get
flooded with all other messages that would get forwarded but messages
from the gimbal will still make it through.
David Sidrane