AP_Mount: In Servo backend, report attitude as demanded servo angles

[nexton-winjeel]

Currently, the attitude quaternion reported by the Servo backend is the target angles, not the current angles. This PR changes the reported attitude to be the currently demanded servo angles.

FYI: @rmackay9

[rmackay9]

Hi @nexton-winjeel,

Thanks for this. You've tested it of course? I'm sure you have but I just need to ask to be sure.

[rmackay9]

@nexton-winjeel,

This looks like it's failing an autotest. It could of course be that there's an issue with the autotest itself but in any case we will need to fix it I think.

FAILED STEP: test.CopterTests1e at Thu May 16 10:17:19 2024
Failure Summary:
test.CopterTests1e:
Mount (Test Camera/Antenna Mount) (Mount stabilising when not requested) (see /tmp/buildlogs/ArduCopter-Mount.txt) (duration 2.595916748046875 s)
MAV_CMD_DO_MOUNT_CONTROL (test MAV_CMD_DO_MOUNT_CONTROL mavlink command) (Mount pitch not achieved) (see /tmp/buildlogs/ArduCopter-MAV_CMD_DO_MOUNT_CONTROL.txt) (duration 5.049896955490112 s)
FAILED 1 tests: ['test.CopterTests1e']

[nexton-winjeel]

You've tested it of course?

Yeah, testing now on our fork (which is slightly different, as it's currently based on v4.4). I pushed this now while we're still testing in case there's any feedback that we need to incorporate.

This looks like it's failing an autotest.

• I'll fix that up. Probably due to the min/max typo above.

[nexton-winjeel]

I've fixed the Copter mount tests, but now a Sub test is failing:

AT-0120.5: Exception caught: RngfndQuality test failed: RQTL #complete#: !!failure!!
Traceback (most recent call last):
  File "/__w/ardupilot/ardupilot/Tools/autotest/vehicle_test_suite.py", line 8457, in run_one_test_attempt
    test_function(**test_kwargs)
  File "/__w/ardupilot/ardupilot/Tools/autotest/ardusub.py", line 211, in RngfndQuality
    raise ex
  File "/__w/ardupilot/ardupilot/Tools/autotest/ardusub.py", line 199, in RngfndQuality
    raise NotAchievedException("RngfndQuality test failed: " + found_failure.text)
vehicle_test_suite.NotAchievedException: RngfndQuality test failed: RQTL #complete#: !!failure!!

Can't reproduce locally. Looks to be unrelated to the changes in this PR?

[peterbarker]

I've fixed the Copter mount tests, but now a Sub test is failing:

AT-0120.5: Exception caught: RngfndQuality test failed: RQTL #complete#: !!failure!!
Traceback (most recent call last):
  File "/__w/ardupilot/ardupilot/Tools/autotest/vehicle_test_suite.py", line 8457, in run_one_test_attempt
    test_function(**test_kwargs)
  File "/__w/ardupilot/ardupilot/Tools/autotest/ardusub.py", line 211, in RngfndQuality
    raise ex
  File "/__w/ardupilot/ardupilot/Tools/autotest/ardusub.py", line 199, in RngfndQuality
    raise NotAchievedException("RngfndQuality test failed: " + found_failure.text)
vehicle_test_suite.NotAchievedException: RngfndQuality test failed: RQTL #complete#: !!failure!!

Can't reproduce locally. Looks to be unrelated to the changes in this PR?

Sadly, known flapping test.

[rmackay9]

Merged, thanks!