AP_Mount_MAVLink: forward MAV_CMD_DO_SET_ROI_LOCATION to gimbal #32162
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| if (natively_supports(MountTargetType::LOCATION)) { | ||
| send_target_location(_roi_target); | ||
| } |
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This shouldn't be here - it should be handled by the output stage
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In clear_roi_target(), mode is set back to default mode, mount target type will no longer be LOCATION therefore send_target_location with zero target (ROI_NONE) will not be sent to gimbal.
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In clear_roi_target(), mode is set back to default mode, mount target type will no longer be LOCATION therefore send_target_location with zero target (ROI_NONE) will not be sent to gimbal.
Right - but we should be in some other targetting mode (e.g. ANGLE) and be sending angles (or retract, or...)
| pkt.x = roi_loc.lat, // param5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 | ||
| pkt.y = roi_loc.lng, // param6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 | ||
| pkt.z = roi_loc.alt * 0.01f; // param7 / z position: global: altitude in meters (relative or absolute, depending on frame). | ||
| pkt.frame = (uint8_t)roi_loc.get_alt_frame(); |
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This does raise the question as to how to handle frames.
<entry value="131072" name="GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL">
<description>Gimbal manager supports to point to a global latitude, longitude, altitude position.</description>
</entry>
That doesn't give any sort of frame - so when we go to add the same thing for GIMBAL_DEVICE we need to pay a bit of attention.
One would usually assume AMSL here, but it's possible you could say "terrain" and let the gimbal sort itself out with a laser rangefinder.
Any suggestions, @hamishwillee ?
I think for the time being throwing the problem over to the camera like this will be fine.
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I've created mavlink/mavlink#2411 to track adding a capability flag (which, presumably, the AVT cameras may start to emit) |
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Forwards MAV_CMD_DO_SET_ROI_LOCATION to AVT gimbal.
Temporarily use vendor name to identify whether target location is supported.