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Use gimbal attitude for the camera feedback when available

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The CameraFeedback module used only the vehicle attitude for the camera orientation so far. With this change, the gimbal_device_attitude_status is used to compute the global camera orientation when a gimbal is used.
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Michael Schaeuble
2022-11-03 17:08:43 +01:00
committed by Claudio Micheli
parent 640f9cc801
commit d7fde289de
4 changed files with 39 additions and 7 deletions
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msg/CameraCapture.msg
+1 -1
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@@ -5,5 +5,5 @@ float64 lat # Latitude in degrees (WGS84)
float64 lon # Longitude in degrees (WGS84)
float32 alt # Altitude (AMSL)
float32 ground_distance # Altitude above ground (meters)
float32[4] q # Attitude of the camera, zero rotation is facing towards front of vehicle
float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback