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vmount/navigator/mavlink: gimbal v2 changes

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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
This commit is contained in:
Julian Oes
2020-10-09 18:12:53 +02:00
committed by Daniel Agar
parent 422bac4bfd
commit e6b1775bb6
31 changed files with 790 additions and 285 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/CMakeLists.txt
+1
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@@ -68,6 +68,7 @@ set(msg_files
geofence_result.msg
gimbal_device_set_attitude.msg
gimbal_manager_set_attitude.msg
gimbal_manager_set_manual_control.msg
gimbal_device_attitude_status.msg
gimbal_device_information.msg
gimbal_manager_information.msg
msg/gimbal_device_information.msg
+6 -6
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@@ -18,10 +18,10 @@ uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
float32 tilt_max # [rad]
float32 tilt_min # [rad]
float32 tilt_rate_max # [rad / s]
float32 pitch_max # [rad]
float32 pitch_min # [rad]
float32 pan_max # [rad]
float32 pan_min # [rad]
float32 pan_rate_max # [rad / s]
float32 yaw_max # [rad]
float32 yaw_min # [rad]
uint8 gimbal_device_compid
msg/gimbal_manager_set_attitude.msg
+3 -4
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@@ -1,5 +1,8 @@
uint64 timestamp # time since system start (microseconds)
uint8 origin_sysid
uint8 origin_compid
uint8 target_system
uint8 target_component
@@ -8,10 +11,6 @@ uint32 GIMBAL_MANAGER_FLAGS_NEUTRAL = 2
uint32 GIMBAL_MANAGER_FLAGS_ROLL_LOCK = 4
uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
uint32 GIMBAL_MANAGER_FLAGS_ANGULAR_VELOCITY_RELATIVE_TO_FOCAL_LENGTH = 1048576
uint32 GIMBAL_MANAGER_FLAGS_NUDGE = 2097152
uint32 GIMBAL_MANAGER_FLAGS_OVERRIDE = 4194304
uint32 GIMBAL_MANAGER_FLAGS_NONE = 8388608
uint32 flags
uint8 gimbal_device_id
msg/gimbal_manager_set_manual_control.msg
+21
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@@ -0,0 +1,21 @@
uint64 timestamp # time since system start (microseconds)
uint8 origin_sysid
uint8 origin_compid
uint8 target_system
uint8 target_component
uint32 GIMBAL_MANAGER_FLAGS_RETRACT = 1
uint32 GIMBAL_MANAGER_FLAGS_NEUTRAL = 2
uint32 GIMBAL_MANAGER_FLAGS_ROLL_LOCK = 4
uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
uint32 flags
uint8 gimbal_device_id
float32 pitch # unitless -1..1, can be NAN
float32 yaw # unitless -1..1, can be NAN
float32 pitch_rate # unitless -1..1, can be NAN
float32 yaw_rate # unitless -1..1, can be NAN
msg/gimbal_manager_status.msg
+4
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@@ -2,3 +2,7 @@ uint64 timestamp # time since system start (microseconds)
uint32 flags
uint8 gimbal_device_id
uint8 primary_control_sysid
uint8 primary_control_compid
uint8 secondary_control_sysid
uint8 secondary_control_compid
msg/vehicle_command.msg
+3 -1
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@@ -75,7 +75,9 @@ uint16 VEHICLE_CMD_START_RX_PAIR = 500 # Starts receiver pairing |0:Spektrum|
uint16 VEHICLE_CMD_REQUEST_MESSAGE = 512 # Request to send a single instance of the specified message
uint16 VEHICLE_CMD_SET_CAMERA_MODE = 530 # Set camera capture mode (photo, video, etc.)
uint16 VEHICLE_CMD_SET_CAMERA_ZOOM = 531 # Set camera zoom
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_ATTITUDE = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal attitude
uint16 VEHICLE_CMD_SET_CAMERA_FOCUS = 532
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000 # Setpoint to be sent to a gimbal manager to set a gimbal pitch and yaw
uint16 VEHICLE_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1001 # Gimbal configuration to set which sysid/compid is in primary and secondary control
uint16 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-board camera triggering system
uint16 VEHICLE_CMD_LOGGING_START = 2510 # start streaming ULog data
uint16 VEHICLE_CMD_LOGGING_STOP = 2511 # stop streaming ULog data