2 Commits

Author	SHA1	Message	Date
Julian Oes	e6b1775bb6	vmount/navigator/mavlink: gimbal v2 changes ... This is a collection of commits all having to do with changes in the Mavlink gimbal v2 protocol as described in: https://mavlink.io/en/services/gimbal_v2.html	2021-02-17 13:54:34 -05:00
Martina Rivizzigno	48b00ff678	Support for gimbal v2 protocol ... - 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 mavlink: remove outdated comment vmount: add option for yaw stabilization only The stabilize flag is used for gimbals which do not have an internal IMU and need the autopilot's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.	2021-02-17 13:54:34 -05:00