Gimbal: add angular rate test and fix deg/rad input #23476
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julianoes
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Probably should have merged this months ago... |
bkueng
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Oct 25, 2024
| @@ -568,5 +618,6 @@ Test the output by setting a angles (all omitted axes are set to 0): | |||
| PRINT_MODULE_USAGE_ARG("<sysid> <compid>", "MAVLink system ID and MAVLink component ID", false); | |||
| PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test the output: set a fixed angle for one or multiple axes (gimbal must be running)"); | |||
| PRINT_MODULE_USAGE_ARG("roll|pitch|yaw <angle>", "Specify an axis and an angle in degrees", false); | |||
| PRINT_MODULE_USAGE_ARG("rollrate|pitchrate|yawrate <angle rate>", "Specify an axis and an angle rate in degrees / second", false); | |||
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module docs ci fails to extract the yawrate here.
We should make sure this split also splits by space: https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4moduledoc/srcparser.py#L445
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Thanks, I don't quite understand why but it seems to fix the issue indeed :).
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It's a simple consistency check that parses the module docs and tries to ensure all parsed arguments in the code are actually documented.
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This is handy to test angular rate input, not just angles.
The command is in degrees, but the rest in radians. Also, set roll to NAN, rather than 0 when not set.
A gimbal user needs to be able to receive gimbal device messages such as GIMBAL_DEVICE_INFORMATION. Therefore, we need to forward this MAVLink instance.
This is required in the case where there are 3 commands on one line.
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bkueng
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Oct 30, 2024
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This adds a test to test angular rate input, not just angles.
Also, this fixes MAVLink angular rate input which is in degrees but needs conversion to radians.
At least this second part should probably be backported to v1.15.
Also, make sure to forward gimbal traffic in SITL as it is required for proper discovery of a MAVLink gimbal.
Tested in SITL using typhoon_h480 model