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AP_Mount: handle gimbal_device_attitude_status

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This commit is contained in:
Randy Mackay 2022-06-03 17:27:08 +09:00
parent 247697ccc4
commit 6723a0fc55
3 changed files with 17 additions and 0 deletions
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13
libraries/AP_Mount/AP_Mount.cpp
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@ -766,6 +766,9 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &m
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT: case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
handle_global_position_int(msg); handle_global_position_int(msg);
break; break;
case MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS:
handle_gimbal_device_attitude_status(msg);
break;
default: default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled mount case"); AP_HAL::panic("Unhandled mount case");
@ -785,6 +788,16 @@ void AP_Mount::handle_param_value(const mavlink_message_t &msg)
} }
// handle GIMBAL_DEVICE_ATTITUDE_STATUS message
void AP_Mount::handle_gimbal_device_attitude_status(const mavlink_message_t &msg)
{
for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
if (_backends[instance] != nullptr) {
_backends[instance]->handle_gimbal_device_attitude_status(msg);
}
}
}
// singleton instance // singleton instance
AP_Mount *AP_Mount::_singleton; AP_Mount *AP_Mount::_singleton;

1
libraries/AP_Mount/AP_Mount.h
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@ -207,6 +207,7 @@ private:
MAV_RESULT handle_command_do_mount_control(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_mount_control(const mavlink_command_long_t &packet);
MAV_RESULT handle_command_do_gimbal_manager_pitchyaw(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_gimbal_manager_pitchyaw(const mavlink_command_long_t &packet);
void handle_global_position_int(const mavlink_message_t &msg); void handle_global_position_int(const mavlink_message_t &msg);
void handle_gimbal_device_attitude_status(const mavlink_message_t &msg);
}; };
namespace AP { namespace AP {

3
libraries/AP_Mount/AP_Mount_Backend.h
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@ -79,6 +79,9 @@ public:
// handle a GLOBAL_POSITION_INT message // handle a GLOBAL_POSITION_INT message
bool handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet); bool handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet);
// handle GIMBAL_DEVICE_ATTITUDE_STATUS message
virtual void handle_gimbal_device_attitude_status(const mavlink_message_t &msg) {}
protected: protected:
// update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver // update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver