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autotest: send targeted GIMBAL_REPORT messages

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This commit is contained in:
Andrew Tridgell 2015-01-29 20:02:13 +11:00
parent 01b264951a
commit c58397020a
1 changed files with 5 additions and 1 deletions
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6
Tools/autotest/pysim/gimbal.py
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@ -81,6 +81,7 @@ class Gimbal3Axis(object):
self.seen_heartbeat = False
self.seen_gimbal_control = False
self.last_print_t = time.time()
self.vehicle_component_id = None
def update(self):
'''update the gimbal state'''
@ -239,6 +240,7 @@ class Gimbal3Axis(object):
self.seen_gimbal_control = True
if m.get_type() == 'HEARTBEAT' and not self.seen_heartbeat:
self.seen_heartbeat = True
self.vehicle_component_id = m.get_srcComponent()
self.connection.mav.srcSystem = m.get_srcSystem()
self.connection.mav.srcComponent = mavutil.mavlink.MAV_COMP_ID_GIMBAL
print("Gimbal using srcSystem %u" % self.connection.mav.srcSystem)
@ -252,7 +254,9 @@ class Gimbal3Axis(object):
self.last_heartbeat_t = now
if self.seen_heartbeat:
self.connection.mav.gimbal_report_send(self.counter,
self.connection.mav.gimbal_report_send(self.connection.mav.srcSystem,
self.vehicle_component_id,
self.counter,
self.delta_angle.x,
self.delta_angle.y,
self.delta_angle.z,