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build: patches: Add improve_support_gimbal_device_attitude_status
Signed-off-by: Patrick José Pereira <[email protected]>
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build/patches/improve_support_gimbal_device_attitude_status.patch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,120 @@ | ||
| diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml | ||
| index 1ccad646..6029e80e 100644 | ||
| --- a/message_definitions/v1.0/common.xml | ||
| +++ b/message_definitions/v1.0/common.xml | ||
| @@ -1119,19 +1119,37 @@ | ||
| <enum name="GIMBAL_DEVICE_FLAGS" bitmask="true"> | ||
| <description>Flags for gimbal device (lower level) operation.</description> | ||
| <entry value="1" name="GIMBAL_DEVICE_FLAGS_RETRACT"> | ||
| - <description>Set to retracted safe position (no stabilization), takes presedence over all other flags.</description> | ||
| + <description>Set to retracted safe position (no stabilization), takes precedence over all other flags.</description> | ||
| </entry> | ||
| <entry value="2" name="GIMBAL_DEVICE_FLAGS_NEUTRAL"> | ||
| - <description>Set to neutral position (horizontal, forward looking, with stabiliziation), takes presedence over all other flags except RETRACT.</description> | ||
| + <description>Set to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.</description> | ||
| </entry> | ||
| <entry value="4" name="GIMBAL_DEVICE_FLAGS_ROLL_LOCK"> | ||
| - <description>Lock roll angle to absolute angle relative to horizon (not relative to drone). This is generally the default with a stabilizing gimbal.</description> | ||
| + <description>Lock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.</description> | ||
| </entry> | ||
| <entry value="8" name="GIMBAL_DEVICE_FLAGS_PITCH_LOCK"> | ||
| - <description>Lock pitch angle to absolute angle relative to horizon (not relative to drone). This is generally the default.</description> | ||
| + <description>Lock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.</description> | ||
| + </entry> | ||
| + <entry value="12" name="BATATINHA"> | ||
| + <description>Lock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).</description> | ||
| </entry> | ||
| <entry value="16" name="GIMBAL_DEVICE_FLAGS_YAW_LOCK"> | ||
| - <description>Lock yaw angle to absolute angle relative to North (not relative to drone). If this flag is set, the quaternion is in the Earth frame with the x-axis pointing North (yaw absolute). If this flag is not set, the quaternion frame is in the Earth frame rotated so that the x-axis is pointing forward (yaw relative to vehicle).</description> | ||
| + <description>Lock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).</description> | ||
| + </entry> | ||
| + <entry value="32" name="GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"> | ||
| + <description>Yaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).</description> | ||
| + </entry> | ||
| + <entry value="64" name="GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME"> | ||
| + <description>Yaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).</description> | ||
| + </entry> | ||
| + <entry value="128" name="GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME"> | ||
| + <description>Gimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).</description> | ||
| + </entry> | ||
| + <entry value="256" name="GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE"> | ||
| + <description>The gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.</description> | ||
| + </entry> | ||
| + <entry value="512" name="GIMBAL_DEVICE_FLAGS_RC_MIXED"> | ||
| + <description>The gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.</description> | ||
| </entry> | ||
| </enum> | ||
| <enum name="GIMBAL_MANAGER_FLAGS" bitmask="true"> | ||
| @@ -1182,7 +1200,7 @@ | ||
| <description>There is an error with the gimbal power source.</description> | ||
| </entry> | ||
| <entry value="32" name="GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERROR"> | ||
| - <description>There is an error with the gimbal motor's.</description> | ||
| + <description>There is an error with the gimbal motors.</description> | ||
| </entry> | ||
| <entry value="64" name="GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERROR"> | ||
| <description>There is an error with the gimbal's software.</description> | ||
| @@ -1190,6 +1208,12 @@ | ||
| <entry value="128" name="GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERROR"> | ||
| <description>There is an error with the gimbal's communication.</description> | ||
| </entry> | ||
| + <entry value="256" name="GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNING"> | ||
| + <description>Gimbal device is currently calibrating.</description> | ||
| + </entry> | ||
| + <entry value="512" name="GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGER"> | ||
| + <description>Gimbal device is not assigned to a gimbal manager.</description> | ||
| + </entry> | ||
| </enum> | ||
| <!-- UAVCAN node health enumeration --> | ||
| <enum name="UAVCAN_NODE_HEALTH"> | ||
| @@ -6471,25 +6495,41 @@ | ||
| <description>Low level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.</description> | ||
| <field type="uint8_t" name="target_system">System ID</field> | ||
| <field type="uint8_t" name="target_component">Component ID</field> | ||
| - <field type="uint16_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Low level gimbal flags.</field> | ||
| + <field type="uint32_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Low level gimbal flags.</field> | ||
| <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)</field> | ||
| <field type="float" name="angular_velocity_x" units="rad/s">X component of angular velocity, positive is banking to the right, NaN to be ignored.</field> | ||
| <field type="float" name="angular_velocity_y" units="rad/s">Y component of angular velocity, positive is tilting up, NaN to be ignored.</field> | ||
| <field type="float" name="angular_velocity_z" units="rad/s">Z component of angular velocity, positive is panning to the right, NaN to be ignored.</field> | ||
| </message> | ||
| <message id="285" name="GIMBAL_DEVICE_ATTITUDE_STATUS"> | ||
| - <wip/> | ||
| - <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. --> | ||
| - <description>Message reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component. The angles encoded in the quaternion are in the global frame (roll: positive is tilt to the right, pitch: positive is tilting up, yaw is turn to the right). This message should be broadcast at a low regular rate (e.g. 10Hz).</description> | ||
| + <description>Message reporting the status of a gimbal device. | ||
| + This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). | ||
| + For the angles encoded in the quaternion and the angular velocities holds: | ||
| + If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). | ||
| + If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). | ||
| + If neither of these flags are set, then (for backwards compatibility) it holds: | ||
| + If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), | ||
| + else they are relative to the vehicle heading (vehicle frame). | ||
| + Other conditions of the flags are not allowed. | ||
| + The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as | ||
| + q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). | ||
| + If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, | ||
| + then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. | ||
| + New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, | ||
| + and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.</description> | ||
| <field type="uint8_t" name="target_system">System ID</field> | ||
| <field type="uint8_t" name="target_component">Component ID</field> | ||
| <field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field> | ||
| <field type="uint16_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Current gimbal flags set.</field> | ||
| - <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)</field> | ||
| - <field type="float" name="angular_velocity_x" units="rad/s">X component of angular velocity (NaN if unknown)</field> | ||
| - <field type="float" name="angular_velocity_y" units="rad/s">Y component of angular velocity (NaN if unknown)</field> | ||
| - <field type="float" name="angular_velocity_z" units="rad/s">Z component of angular velocity (NaN if unknown)</field> | ||
| - <field type="uint32_t" name="failure_flags" display="bitmask" enum="GIMBAL_DEVICE_ERROR_FLAGS">Failure flags (0 for no failure)</field> | ||
| + <field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.</field> | ||
| + <field type="float" name="angular_velocity_x" units="rad/s" invalid="NaN">X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.</field> | ||
| + <field type="float" name="angular_velocity_y" units="rad/s" invalid="NaN">Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.</field> | ||
| + <field type="float" name="angular_velocity_z" units="rad/s" invalid="NaN">Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.</field> | ||
| + <field type="uint32_t" name="failure_flags">Failure flags (0 for no failure)</field> | ||
| + <extensions/> | ||
| + <field type="float" name="delta_yaw" units="rad" invalid="NAN">Yaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.</field> | ||
| + <field type="float" name="delta_yaw_velocity" units="rad/s" invalid="NAN">Yaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.</field> | ||
| + <field type="uint8_t" name="gimbal_device_id" invalid="0">This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.</field> | ||
| </message> | ||
| <message id="286" name="AUTOPILOT_STATE_FOR_GIMBAL_DEVICE"> | ||
| <wip/> |