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.
- add command to request a message
- add gimbal attitude message
mavlink_receiver handle GIMBAL_MANAGER_SET_ATTITUDE
first implementation of new vmount input MavlinkGimbalV2
- setup class
- decode gimbal_manager_set_attitude in ControlData
add gimbal information message
add gimbal manager information and vehicle command ack
mavlink messages: add stream for GIMBAL_MANAGER_INFORMATION
mavlink_receiver: handle GIMBAL_DEVICE_INFORMATION
remove mavlink cmd handling from vmount input MavlinkGimbalV2
complete gimbal manager:
- send out fake gimbal_device_information for dummy gimbals
- complete ROI handling with nudging
small fixes
fix typos
cleanup
- gimbal device information
- flags lock
- check sanity of string
add support for CMD_DO_GIMBAL_MANAGER_ATTITUDE
stream GimbalDeviceAttitudeStatus for dummy gimbals
- add uROB gimbal_attitude_status
- fill status in vmount output_rc for dummy gimbals not able to send the
status themselves
- stream mavlink GimbalDeviceAttitudeStatus
better handle the request for gimbal infomation request
clean up
bring gimbal information back on vmount init
add new gimbal message to mavlink normal stream
fix publication of gimbal device information
rename gimbal_attitude_status to gimbal_device_attitude_status
stream gimbal_manager_status at 5Hz
mavlink: send information only on request
Sending the information message once on request should now work and we
don't need to keep publishing it.
mavlink: debug output for now
make sure to copy over control data
mavlink: add missing copyright header, pragma once
mavlink: address review comments
mavlink: handle stream not updated
Our answer does not just depend on whether the stream was found but
whether we actually were able to send out an update.
mavlink: remove outdated comment
vmount: add option for yaw stabilization only
The stabilize flag is used for gimbals which do not have an internal IMU
and need the autopilot's attitude in order to do stabilization. These
gimbals are probably quite rare by now but it makes sense to keep the
functionality given it can e.g. be used by simple servo gimbals for
sensors other than highres cameras.
The stabilize flag can also be re-used for gimbals which are capable of
stabilizing pitch and roll but not absolute yaw (e.g. locked to North).
For such gimbals we can now set the param MNT_DO_STAB to 2.
We still support configuring which axes are stabilized by the
MAVLink command DO_MOUNT_CONFIGURE, however, this is generally not
recommended anymore.
vmount: fix incorrect check for bit flag
mavlink_messages: remove debug message
Signed-off-by: Claudio Micheli <claudio@auterion.com>
use device id
remove debug print
gimbal attitude fix mistake
clang tidy fix
split:
- gimbal_attitude -> gimbal_device_set_attitude, gimbal_manager_set_attitude
- gimbal_information -> gimbal_device_informatio, gimbal_manager_information
add gimbal protocol messages to rtps msg ids
support set attitude for gimbal directly speaking mavlink
clean up gimbal urob messages
vmount: address a few small review comments
vmount: split output into v1 and v2 protocol
This way we can continue to support the MAVLink v1 protocol. Also, we
don't send the old vehicle commands when actually using the new v2
protocol.
vmount: config via ctor instead of duplicate param
vmount: use loop to poll all topics
Otherwise we might give up too soon and miss some data, or run too fast
based on commands that have nothing to do with the gimbal.
typhoon_h480: use gimbal v2 protocol, use yaw stab
Let's by default use the v2 protocol with typhoon_h480 and enable yaw
lock mode by stabilizing yaw.
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- create common uORB::PublicationBase
- uORB::PublicationQueued types are now type aliases
- ORB_PRIO use enum type everywhere to avoid accidental misuse
- PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
David Sidrane