Add mavlink support for GIMBAL_DEVICE_INFORMATION

Signed-off-by: Claudio Micheli <claudio@auterion.com>

src/modules/mavlink/mavlink_main.cpp

@@ -1030,6 +1030,9 @@ Mavlink::handle_message(const mavlink_message_t *msg)
 	// Special case for gimbals that need to forward GIMBAL_DEVICE_ATTITUDE_STATUS.
 	else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS) {
 		Mavlink::forward_message(msg, this);
+
+	} else if (msg->msgid == MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION) {
+		Mavlink::forward_message(msg, this);
 	}
 }
 

src/modules/mavlink/mavlink_messages.cpp

@@ -134,6 +134,7 @@
 # include "streams/GIMBAL_DEVICE_SET_ATTITUDE.hpp"
 # include "streams/GIMBAL_MANAGER_INFORMATION.hpp"
 # include "streams/GIMBAL_MANAGER_STATUS.hpp"
+# include "streams/GIMBAL_DEVICE_INFORMATION.hpp"
 # include "streams/GPS2_RAW.hpp"
 # include "streams/HIGH_LATENCY2.hpp"
 # include "streams/LINK_NODE_STATUS.hpp"
@@ -337,6 +338,9 @@ static const StreamListItem streams_list[] = {
 #if defined(GIMBAL_MANAGER_INFORMATION_HPP)
 	create_stream_list_item<MavlinkStreamGimbalManagerInformation>(),
 #endif // GIMBAL_MANAGER_INFORMATION_HPP
+#if defined(GIMBAL_DEVICE_INFORMATION_HPP)
+	create_stream_list_item<MavlinkStreamGimbalDeviceInformation>(),
+#endif // GIMBAL_DEVICE_INFORMATION_HPP
 #if defined(GIMBAL_MANAGER_STATUS_HPP)
 	create_stream_list_item<MavlinkStreamGimbalManagerStatus>(),
 #endif // GIMBAL_MANAGER_STATUS_HPP

src/modules/mavlink/streams/GIMBAL_DEVICE_INFORMATION.hpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef GIMBAL_DEVICE_INFORMATION_HPP
+#define GIMBAL_DEVICE_INFORMATION_HPP
+
+#include <uORB/topics/gimbal_device_information.h>
+
+class MavlinkStreamGimbalDeviceInformation : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamGimbalDeviceInformation(mavlink); }
+
+	static constexpr const char *get_name_static() { return "GIMBAL_DEVICE_INFORMATION"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		if (_gimbal_device_information_sub.advertised()) {
+			return MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+		}
+
+		return 0;
+	}
+
+private:
+	explicit MavlinkStreamGimbalDeviceInformation(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)};
+
+	bool send() override
+	{
+		gimbal_device_information_s gimbal_device_information;
+
+		if (_gimbal_device_information_sub.advertised() && _gimbal_device_information_sub.copy(&gimbal_device_information)) {
+			// send out gimbal_device_info with info from gimbal_device_information
+			mavlink_gimbal_device_information_t msg{};
+
+			msg.time_boot_ms = gimbal_device_information.timestamp / 1000;
+			memcpy(msg.vendor_name, gimbal_device_information.vendor_name, sizeof(gimbal_device_information.vendor_name));
+			memcpy(msg.model_name, gimbal_device_information.model_name, sizeof(gimbal_device_information.model_name));
+			memcpy(msg.custom_name, gimbal_device_information.custom_name, sizeof(gimbal_device_information.custom_name));
+			msg.firmware_version = gimbal_device_information.firmware_version;
+			msg.hardware_version = gimbal_device_information.hardware_version;
+			msg.uid = gimbal_device_information.uid;
+			msg.cap_flags = gimbal_device_information.cap_flags;
+			msg.roll_min = gimbal_device_information.roll_min;
+			msg.roll_max = gimbal_device_information.roll_max;
+			msg.pitch_min = gimbal_device_information.pitch_min;
+			msg.pitch_max = gimbal_device_information.pitch_max;
+			msg.yaw_min = gimbal_device_information.yaw_min;
+			msg.yaw_max = gimbal_device_information.yaw_max;
+
+			mavlink_msg_gimbal_device_information_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // GIMBAL_DEVICE_INFORMATION_HPP