Merge pull request #1310 from mavlink/gimbal-v2

Gimbal v2: implement take_control and release_control
mavlink · Feb 4, 2021 · 14c5154 · 14c5154
2 parents 3aa3b35 + a57bf74
commit 14c5154
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Showing 16 changed files with 4,969 additions and 384 deletions.
diff --git a/proto b/proto
diff --git a/src/integration_tests/gimbal.cpp b/src/integration_tests/gimbal.cpp
@@ -44,6 +44,8 @@ TEST(SitlTestGimbal, GimbalMove)
 
     telemetry->subscribe_camera_attitude_euler(&receive_gimbal_attitude_euler_angles);
 
+    EXPECT_EQ(gimbal->take_control(Gimbal::ControlMode::Primary), Gimbal::Result::Success);
+
     EXPECT_EQ(gimbal->set_mode(Gimbal::GimbalMode::YawFollow), Gimbal::Result::Success);
 
     LogInfo() << "Pitch down for a  bit";
@@ -66,6 +68,8 @@ TEST(SitlTestGimbal, GimbalMove)
     EXPECT_EQ(gimbal->set_pitch_and_yaw(0.0f, 0.0f), Gimbal::Result::Success);
 
     std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    EXPECT_EQ(gimbal->take_control(Gimbal::ControlMode::None), Gimbal::Result::Success);
 }
 
 TEST(SitlTestGimbal, GimbalAngles)
@@ -87,6 +91,8 @@ TEST(SitlTestGimbal, GimbalAngles)
 
     auto gimbal = std::make_shared<Gimbal>(system);
 
+    EXPECT_EQ(gimbal->take_control(Gimbal::ControlMode::Primary), Gimbal::Result::Success);
+
     EXPECT_EQ(gimbal->set_mode(Gimbal::GimbalMode::YawFollow), Gimbal::Result::Success);
 
     LogInfo() << "Pitch 45 degrees down";
@@ -114,6 +120,8 @@ TEST(SitlTestGimbal, GimbalAngles)
     LogInfo() << "Yaw forward";
     EXPECT_EQ(gimbal->set_pitch_and_yaw(0.0f, 0.0f), Gimbal::Result::Success);
     std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    EXPECT_EQ(gimbal->take_control(Gimbal::ControlMode::None), Gimbal::Result::Success);
 }
 
 TEST(SitlTestGimbal, GimbalTakeoffAndMove)
@@ -164,6 +172,8 @@ TEST(SitlTestGimbal, GimbalTakeoffAndMove)
 
     std::this_thread::sleep_for(std::chrono::seconds(1));
 
+    EXPECT_EQ(gimbal->take_control(Gimbal::ControlMode::Primary), Gimbal::Result::Success);
+
     // First use gimbal in yaw follow mode.
     EXPECT_EQ(gimbal->set_mode(Gimbal::GimbalMode::YawFollow), Gimbal::Result::Success);
 
@@ -176,6 +186,8 @@ TEST(SitlTestGimbal, GimbalTakeoffAndMove)
     gimbal_pattern(gimbal);
     std::this_thread::sleep_for(std::chrono::seconds(1));
 
+    EXPECT_EQ(gimbal->take_control(Gimbal::ControlMode::None), Gimbal::Result::Success);
+
     action->land();
     std::this_thread::sleep_for(std::chrono::seconds(3));
 }

diff --git a/src/mavsdk_server/src/generated/gimbal/gimbal.grpc.pb.cc b/src/mavsdk_server/src/generated/gimbal/gimbal.grpc.pb.cc