Mirrors_Framework/PX4-Autopilot
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gimbal: merge fixes

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This commit is contained in:
Julian Oes
2021-02-02 09:22:11 +01:00
committed by Daniel Agar
parent fecd96dc28
commit 7633b119f7
5 changed files with 23 additions and 69 deletions
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src/modules/mavlink/mavlink_messages.cpp
+19 -15
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@@ -1530,7 +1530,7 @@ protected:
explicit MavlinkStreamAutopilotStateForGimbalDevice(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
if (_att_sub.advertised()) {
@@ -2021,7 +2021,7 @@ protected:
explicit MavlinkStreamGimbalDeviceAttitudeStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_device_attitude_status_s gimbal_device_attitude_status{};
@@ -2093,23 +2093,23 @@ protected:
explicit MavlinkStreamGimbalManagerInformation(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_manager_information_s gimbal_manager_information;
if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_device_information)) {
// send out gimbal_manager_info with info from gimbal_device_information
if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_manager_information)) {
// send out gimbal_manager_info with info from gimbal_manager_information
mavlink_gimbal_manager_information_t msg{};
msg.time_boot_ms = gimbal_device_information.timestamp / 1000;
msg.time_boot_ms = gimbal_manager_information.timestamp / 1000;
msg.gimbal_device_id = 0;
msg.cap_flags = gimbal_device_information.cap_flags;
msg.cap_flags = gimbal_manager_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;
msg.roll_min = gimbal_manager_information.roll_min;
msg.roll_max = gimbal_manager_information.roll_max;
msg.pitch_min = gimbal_manager_information.pitch_min;
msg.pitch_max = gimbal_manager_information.pitch_max;
msg.yaw_min = gimbal_manager_information.yaw_min;
msg.yaw_max = gimbal_manager_information.yaw_max;
mavlink_msg_gimbal_manager_information_send_struct(_mavlink->get_channel(), &msg);
@@ -2166,7 +2166,7 @@ protected:
explicit MavlinkStreamGimbalManagerStatus(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_manager_status_s gimbal_manager_status;
@@ -2174,6 +2174,10 @@ protected:
mavlink_gimbal_manager_status_t msg{};
msg.time_boot_ms = gimbal_manager_status.timestamp / 1000;
msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id;
msg.primary_control_sysid = gimbal_manager_status.primary_control_sysid;
msg.primary_control_compid = gimbal_manager_status.primary_control_compid;
msg.secondary_control_sysid = gimbal_manager_status.secondary_control_sysid;
msg.secondary_control_compid = gimbal_manager_status.secondary_control_compid;
msg.flags = gimbal_manager_status.flags;
mavlink_msg_gimbal_manager_status_send_struct(_mavlink->get_channel(), &msg);
@@ -2233,7 +2237,7 @@ protected:
explicit MavlinkStreamGimbalDeviceSetAttitude(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send(const hrt_abstime t) override
bool send() override
{
gimbal_device_set_attitude_s gimbal_device_set_attitude;
src/modules/mavlink/mavlink_receiver.h
+1 -4
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@@ -204,7 +204,6 @@ private:
void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
void handle_message_utm_global_position(mavlink_message_t *msg);
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_onboard_computer_status(mavlink_message_t *msg);
void handle_message_gimbal_manager_set_attitude(mavlink_message_t *msg);
void handle_message_gimbal_manager_set_manual_control(mavlink_message_t *msg);
void handle_message_gimbal_device_information(mavlink_message_t *msg);
@@ -361,10 +360,8 @@ private:
uORB::Publication<follow_target_s> _follow_target_pub{ORB_ID(follow_target)};
uORB::Publication<gimbal_manager_set_attitude_s> _gimbal_manager_set_attitude_pub{ORB_ID(gimbal_manager_set_attitude)};
uORB::Publication<gimbal_manager_set_manual_control_s> _gimbal_manager_set_manual_control_pub{ORB_ID(gimbal_manager_set_manual_control)};
uORB::Publication<gimbal_device_information_s> _gimbal_device_information_pub{ORB_ID(gimbal_device_information)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<gimbal_manager_set_attitude_s> _gimbal_manager_set_attitude_pub{ORB_ID(gimbal_manager_set_attitude)};
uORB::Publication<gimbal_device_information_s> _gimbal_device_information_pub{ORB_ID(gimbal_device_information)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<landing_target_pose_s> _landing_target_pose_pub{ORB_ID(landing_target_pose)};
uORB::Publication<log_message_s> _log_message_pub{ORB_ID(log_message)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
src/modules/vmount/input_mavlink.cpp
+1 -48
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@@ -811,53 +811,6 @@ int InputMavlinkGimbalV2::update_impl(unsigned int timeout_ms, ControlData **con
_ack_vehicle_command(&vehicle_command, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
}
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL) {
switch ((int)vehicle_command.param7) {
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
_control_data.gimbal_shutter_retract = true;
/* FALLTHROUGH */
case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
_control_data.type = ControlData::Type::Neutral;
*control_data = &_control_data;
break;
case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING:
_control_data.type = ControlData::Type::Angle;
_control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
_control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
_control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
// vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0
_control_data.type_data.angle.angles[0] = vehicle_command.param2 * M_DEG_TO_RAD_F;
// vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1
_control_data.type_data.angle.angles[1] = vehicle_command.param1 * M_DEG_TO_RAD_F;
// both specs have yaw on channel 2
_control_data.type_data.angle.angles[2] = vehicle_command.param3 * M_DEG_TO_RAD_F;
// We expect angle of [-pi..+pi]. If the input range is [0..2pi] we can fix that.
if (_control_data.type_data.angle.angles[2] > M_PI_F) {
_control_data.type_data.angle.angles[2] -= 2 * M_PI_F;
}
*control_data = &_control_data;
break;
case vehicle_command_s::VEHICLE_MOUNT_MODE_RC_TARGETING:
break;
case vehicle_command_s::VEHICLE_MOUNT_MODE_GPS_POINT:
control_data_set_lon_lat((double)vehicle_command.param6, (double)vehicle_command.param5, vehicle_command.param4);
*control_data = &_control_data;
break;
}
_ack_vehicle_command(&vehicle_command);
} else {
exit_loop = false;
}
@@ -942,7 +895,7 @@ void InputMavlinkGimbalV2::_ack_vehicle_command(vehicle_command_s *cmd, uint8_t
vehicle_command_ack.target_system = cmd->source_system;
vehicle_command_ack.target_component = cmd->source_component;
uORB::PublicationQueued<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Publication<vehicle_command_ack_s> cmd_ack_pub{ORB_ID(vehicle_command_ack)};
cmd_ack_pub.publish(vehicle_command_ack);
}
src/modules/vmount/output_mavlink.cpp
+1 -1
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@@ -162,7 +162,7 @@ void OutputMavlinkV2::_request_gimbal_device_information()
vehicle_cmd.confirmation = 0;
vehicle_cmd.from_external = false;
uORB::PublicationQueued<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
vehicle_command_pub.publish(vehicle_cmd);
}
src/modules/vmount/output_mavlink.h
+1 -1
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@@ -64,7 +64,7 @@ public:
virtual void print_status();
private:
uORB::PublicationQueued<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
uORB::Publication<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
};
class OutputMavlinkV2 : public OutputBase