AP_Scripting: mount-djirs2: fix reporting issues #24461
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DJI R SDK version 2.2.0.5 released on October 30, 2020 added CmdSet and CmdID bytes to reply frames before the data segment which need to be skipped when parsing replies. Tested with gimbal firmware 01.04.00.20 and 01.05.00.20 (latest version).
Commit 380c201 swapped roll and pitch for unknown reasons, this fixed order agrees with the documentation and testing on a real gimbal. Also correct reporting of yaw when upside down mode is used so that the reported yaw matches the targeted yaw.
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Hi @tpwrules, Sorry for taking so long to reply to this PR. I've created a modified version here #25692 which includes your changes (mostly) but also maintains support for the legacy firmware. Could you help test it works with the latest gimbal firmware? Also you might want to pull in the last commit from this branch and then set DJIR_DEBUG = 1 so that we can double check the length of the packets is indeed 2 larger than in the legacy firmware. The packet length are output to the GCS messages tab. Note that I haven't included the change to the report roll and pitch angles. I don't think those changes were correct. I've tested and my gimbal moves correctly. I suppose it could be that the bug is in the gimbal itself and that the latest firmware has swapped the roll and pitch reporting fields. |
Decently recent firmware for the RS2 sends replies back in a slightly different format than expected by the script. I've corrected the script to parse the new packets correctly but now it will not work with the old style. The documentation is updated to inform users to update.
I also fixed the reporting of angles as it was broken by a recent change for reasons I can't determine. I made sure that the reported angles and directions match the drone frame (positive roll right/clockwise from rear, positive pitch up/clockwise from left, positive yaw right/clockwise from top) in both right side up and upside down modes.
cc: @rmackay9 who wrote the original script