Fix: Stop gimbal from spinning when an angular velocity setpoint stream times out #23825
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Thanks @MaEtUgR. I'll review this asap with fresh eyes. FYI, some other open loop on gimbals that I ought to close:
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julianoes
reviewed
Oct 22, 2024
To enable implementing a timeout when there's no new setpoint coming in.
The gimbal would otherwise continue to spin with whatever velocity was commanded before the input connection was lost.
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I rebased on main and applied the suggestion #23825 (comment) |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
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Solved Problem
When an angular velocity setpoint (
gimbal_manager_set_manual_control) stops streaming while still commanding non-zero velocity, the gimbal continues turning indefinitely.Context:
I found this when working with a gimbal that can be steered by a lever but also a "level out" button it's crucial to not constantly send the lever-based angular velocity setpoint (
gimbal_manager_set_manual_control) because that overrides any button-based attitude setpoint (gimbal_manager_set_attitude) immediately again. Solution: only send angular velocity setpoints when the lever is actually deflected and stop sending them when they are zero. But what happens if you lose connection?Solution
Changelog Entry
Alternatives
@julianoes I'm eager to find out if you have any better idea or implementation architecture in mind to solve this problem.
Test coverage
I tested using MAVLink gimbal V2 as in- and output. I mapped a lever to gimbal pitch-rate and shut the input MAVLink connection while the lever was deflected and gimbal moving. Before the change it would continue spinning indefinitely, with my pr there is no update anymore for 2 seconds and then there is one single update that commands the gimbal to 0 pitch-rate and it stops. Note: When I tried NAN that caused the gimbal to reset its orientation which I consider undesired e.g. during connection dropouts.