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Andrew Tridgell
7232503ee6
Send changed targets immediately and refresh unchanged targets at a configurable rate. Keep vehicle attitude output configurable with a 50 Hz default, use absolute global ROI targets and explicit yaw frames, and require a separate link for each camera/gimbal unit. Resolve gimbal selectors as component IDs (7-255) or legacy mount slots (1-6), rejecting fractional, negative, NaN and out-of-range values instead of wrapping them into another mount. Zero still selects the primary mount. Advertise MAVLink gimbals by their component ID in GIMBAL_MANAGER information and status and in camera associations. Relay cached native GIMBAL_DEVICE_ATTITUDE_STATUS with the gimbal's own identity and attitude frame. Handle explicitly addressed ROI_LOCATION, ROI_NONE and ROI_SYSID mount selection, and pass camera_device_id through mount-backed camera information and settings.