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GCS_MAVLink: support requests for gimbal-manager-information

This commit is contained in:
Randy Mackay 2023-04-24 13:59:55 +09:00
parent ddbc52d2db
commit bdb3618de7
3 changed files with 20 additions and 1 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -371,6 +371,7 @@ public:
void send_vfr_hud();
void send_vibration() const;
void send_gimbal_device_attitude_status() const;
void send_gimbal_manager_information() const;
void send_named_float(const char *name, float value) const;
void send_home_position() const;
void send_gps_global_origin() const;

19
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -989,6 +989,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
#if HAL_MOUNT_ENABLED
{ MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, MSG_GIMBAL_DEVICE_ATTITUDE_STATUS},
{ MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, MSG_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE},
{ MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION, MSG_GIMBAL_MANAGER_INFORMATION},
#endif
#if AP_OPTICALFLOW_ENABLED
{ MAVLINK_MSG_ID_OPTICAL_FLOW, MSG_OPTICAL_FLOW},
@ -5324,6 +5325,17 @@ void GCS_MAVLINK::send_gimbal_device_attitude_status() const
}
#endif
#if HAL_MOUNT_ENABLED
void GCS_MAVLINK::send_gimbal_manager_information() const
{
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return;
}
mount->send_gimbal_manager_information(chan);
}
#endif
void GCS_MAVLINK::send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc)
{
@ -5648,7 +5660,12 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_autopilot_state_for_gimbal_device();
#endif
break;
case MSG_GIMBAL_MANAGER_INFORMATION:
#if HAL_MOUNT_ENABLED
CHECK_PAYLOAD_SIZE(GIMBAL_MANAGER_INFORMATION);
send_gimbal_manager_information();
#endif
break;
case MSG_OPTICAL_FLOW:
#if AP_OPTICALFLOW_ENABLED
CHECK_PAYLOAD_SIZE(OPTICAL_FLOW);

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -50,6 +50,7 @@ enum ap_message : uint8_t {
MSG_BATTERY2,
MSG_CAMERA_FEEDBACK,
MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
MSG_GIMBAL_MANAGER_INFORMATION,
MSG_OPTICAL_FLOW,
MSG_MAG_CAL_PROGRESS,
MSG_MAG_CAL_REPORT,