Adding gimbal Gazebo description #3496
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Perrrewi
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| @@ -104,6 +104,22 @@ make px4_sitl gz_x500_lidar_2d | |||
| The sensor information is written to the [ObstacleDistance](../msg_docs/ObstacleDistance.md) UORB message used by collision prevention. | |||
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| ### X500 Quadrotor with Gimbal (Front-facing) | |||
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@Perrrewi This all looks great - but we need a little detail on what/how you test with it.
- I assume this simulates a MAVLink gimbal? What device id/component ID does the gimbal have? We should state this.
- Can we link from https://docs.px4.io/main/en/advanced/gimbal_control.html#sitl so that people working on gimbals can find this
- Also update the testing section below it: https://docs.px4.io/main/en/advanced/gimbal_control.html#testing
Might be worth having separate sections for Gazebo and Gazebo Classic there so that we can easily delete the classic version when this goes EOL (depends on how it looks when tried). - Further, in the testing section, is there anything else we can do? I.e. If I define a mission with ROIs will the gimbal be used for them? In QGC is there a model where I can see the gimbal in operation - i.e. streamed video, and move the gimbal? Such as you might do in Auterion's AMC?
- Perhaps note here that you need to configure PX4 as per (find link in (presumably)?
In other words, stuff to make this findable and usable if people arrive at this topic, or at the gimbal topic.
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PS I presume that this can't merge until all the PRs in the description are merged.
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Thanks very much @Perrrewi ! I see that the associated PRs have merged, so I will merge this too.
Note, I did a subedit on your work. This essentially went against my advice to you yesterday because on reading I felt that given the testing approach is common, entirely splitting via simulator made this harder to read.
So what I have done is separated into SITL, QGC testing, Driver Testing and MAVLink testing.
The testing sections just say "start your simulator of choice" so that's the only duplication. I think it works pretty well, but very happy to take your feedback as a post process - i.e. add notes etc to this if there is anything you need looked at.
Note, might take a while for me to respond to detailed feedack, but anything that is just wrong I will fix ASAP.
Adding descriptors of the gimbal model