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AP_Mount: Fix GIMBAL_DEVICE_FLAGS in GIMBAL_DEVICE_ATTITUDE_STATUS #27073

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AP_Mount: Fix GIMBAL_DEVICE_FLAGS in GIMBAL_DEVICE_ATTITUDE_STATUS #27073

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ab4df6c
AP_Mount: Don't set GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME if yaw i…
nexton-winjeel May 16, 2024
745c4e5
AP_Mount: Make backend get_gimbal_device_flags() function virtual
nexton-winjeel May 15, 2024
59a5d30
AP_Mount: In Servo backend, set flags to indicate attitude is in body…
nexton-winjeel May 16, 2024
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10 changes: 6 additions & 4 deletions libraries/AP_Mount/AP_Mount_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -857,12 +857,14 @@ uint16_t AP_Mount_Backend::get_gimbal_device_flags() const
break;
}

const uint16_t yaw_ef_flags = GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME | GIMBAL_DEVICE_FLAGS_YAW_LOCK;
const uint16_t yaw_bf_flags = GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME;

const uint16_t flags = (get_mode() == MAV_MOUNT_MODE_RETRACT ? GIMBAL_DEVICE_FLAGS_RETRACT : 0) |
(get_mode() == MAV_MOUNT_MODE_NEUTRAL ? GIMBAL_DEVICE_FLAGS_NEUTRAL : 0) |
GIMBAL_DEVICE_FLAGS_ROLL_LOCK | // roll angle is always earth-frame
GIMBAL_DEVICE_FLAGS_PITCH_LOCK| // pitch angle is always earth-frame, yaw_angle is always body-frame
GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | // yaw angle is always in vehicle-frame
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@nexton-winjeel nexton-winjeel May 16, 2024 •
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@Davidsastresas: You made the change to set GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME unconditionally (in f12ca0b). My understanding is that it should only be set if yaw_lock_state is false?

(yaw_lock_state ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0);
GIMBAL_DEVICE_FLAGS_ROLL_LOCK | // roll angle is always earth-frame
GIMBAL_DEVICE_FLAGS_PITCH_LOCK | // pitch angle is always earth-frame
(yaw_lock_state ? yaw_ef_flags : yaw_bf_flags); // yaw angle can be either earth-frame or body-frame
return flags;
}

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2 changes: 1 addition & 1 deletion libraries/AP_Mount/AP_Mount_Backend.h
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Expand Up @@ -288,7 +288,7 @@ class AP_Mount_Backend
void update_angle_target_from_rate(const MountTarget& rate_rad, MountTarget& angle_rad) const;

// helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message
uint16_t get_gimbal_device_flags() const;
virtual uint16_t get_gimbal_device_flags() const;

// sent warning to GCS
void send_warning_to_GCS(const char* warning_str);
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16 changes: 16 additions & 0 deletions libraries/AP_Mount/AP_Mount_Servo.cpp
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Expand Up @@ -139,6 +139,22 @@ bool AP_Mount_Servo::get_attitude_quaternion(Quaternion& att_quat)
return true;
}

// helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message
uint16_t AP_Mount_Servo::get_gimbal_device_flags() const
{
uint16_t flags = AP_Mount_Backend::get_gimbal_device_flags();
// per get_attitude_quaternion() above, angles are all body frame, so clear all the LOCK flags...
const uint16_t mask = ~(GIMBAL_DEVICE_FLAGS_ROLL_LOCK |
GIMBAL_DEVICE_FLAGS_PITCH_LOCK |
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IMPORTANT: The clearing of GIMBAL_DEVICE_FLAGS_ROLL_LOCK and GIMBAL_DEVICE_FLAGS_PITCH_LOCK is only applicable if #27072 is merged.

GIMBAL_DEVICE_FLAGS_YAW_LOCK |
GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME);
flags &= mask;
// and set the YAW_IN_VEHICLE_FRAME flag
flags |= GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME;

return flags;
}

// private methods

// update body-frame angle outputs from earth-frame angle targets
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3 changes: 3 additions & 0 deletions libraries/AP_Mount/AP_Mount_Servo.h
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Expand Up @@ -39,6 +39,9 @@ class AP_Mount_Servo : public AP_Mount_Backend
// get attitude as a quaternion. returns true on success
bool get_attitude_quaternion(Quaternion& att_quat) override;

// helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message
uint16_t get_gimbal_device_flags() const override;

private:

// update body-frame angle outputs from earth-frame targets
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