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MissionManager: Support for MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW #10833

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merged 1 commit into from
Oct 17, 2023
Merged

MissionManager: Support for MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW #10833

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45 changes: 45 additions & 0 deletions src/MissionManager/MavCmdInfoCommon.json
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Original file line number Diff line number Diff line change
Expand Up @@ -910,6 +910,51 @@
"enumValues": "0,1,2,3,4"
}
},
{
"id": 1000,
"rawName": "MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW",
"friendlyName": "Gimbal Manager PitchYaw" ,
"description": "Control the gimbal during the mission",
"category": "Advanced",
"param1": {
"label": "Pitch",
"default": 0,
"units": "deg",
"decimalPlaces": 2
},
"param2": {
"label": "Yaw",
"default": 0,
"units": "deg",
"decimalPlaces": 2
},
"param3": {
"label": "Pitch rate",
"default": 0,
"units": "deg/s",
"decimalPlaces": 2
},
"param4": {
"label": "Yaw rate",
"default": 0,
"units": "deg/s",
"decimalPlaces": 2
},
"param5": {
"label": "Follow yaw",
"default": 0,
"decimalPlaces": 0,
"enumStrings": "Follow yaw, Lock yaw",
"enumValues": "0,16"
},
"param7": {
"label": "Gimbal",
"default": 0,
"decimalPlaces": 0,
"enumStrings": "Primary,first gimbal,second gimbal",
"enumValues": "0,1,2"
}
},
{
"id": 206,
"rawName": "MAV_CMD_DO_SET_CAM_TRIGG_DIST",
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1 change: 1 addition & 0 deletions src/MissionManager/MissionController.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1576,6 +1576,7 @@ void MissionController::_recalcMissionFlightStatus()
case MAV_CMD_NAV_ROI:
case MAV_CMD_DO_SET_ROI_LOCATION:
case MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET:
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
_missionFlightStatus.gimbalYaw = qQNaN();
_missionFlightStatus.gimbalPitch = qQNaN();
break;
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