vmount: first step to support absolute angles

The mavlink spec now supports absolute angles as well, see:
https://github.com/mavlink/mavlink/pull/944

src/modules/vmount/common.h

@@ -61,13 +61,18 @@ struct ControlData {
 		//TODO: add more, like smooth curve, ... ?
 	};
 
+
 	Type type = Type::Neutral;
 
 	union TypeData {
 		struct TypeAngle {
-			float angles[3];              /**< attitude angles (roll, pitch, yaw) in rad, [-pi, +pi] if is_speed[i] == false */
+			float angles[3];         /**< attitude angles (roll, pitch, yaw) in rad, [-pi, +pi] or rad/s (if is angular rate) */
 
-			bool is_speed[3];        /**< if true, the angle is the angular speed in rad/s */
+			enum class Frame : uint8_t {
+				AngleBodyFrame = 0, /**< Angle in body frame. */
+				AngularRate,        /**< Angular rate in rad/s. */
+				AngleAbsoluteFrame  /**< Angle in absolute frame. */
+			} frames[3];             /**< Frame of given angle. */
 		} angle;
 
 		struct TypeLonLat {

src/modules/vmount/input_mavlink.cpp

@@ -281,9 +281,9 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 
 					case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING:
 						_control_data.type = ControlData::Type::Angle;
-						_control_data.type_data.angle.is_speed[0] = false;
-						_control_data.type_data.angle.is_speed[1] = false;
-						_control_data.type_data.angle.is_speed[2] = false;
+						_control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+						_control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+						_control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
 						// vmount spec has roll on channel 0, MAVLink spec has pitch on channel 0
 						_control_data.type_data.angle.angles[0] = vehicle_command.param2 * M_DEG_TO_RAD_F;
 						// vmount spec has pitch on channel 1, MAVLink spec has roll on channel 1
@@ -315,6 +315,39 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 					_stabilize[0] = (uint8_t) vehicle_command.param2 == 1;
 					_stabilize[1] = (uint8_t) vehicle_command.param3 == 1;
 					_stabilize[2] = (uint8_t) vehicle_command.param4 == 1;
+
+					for (int i = 0; i < 3; ++i) {
+						float param;
+
+						if (i == 0) {
+							param = vehicle_command.param5;
+
+						} else if (i == 1) {
+							param = vehicle_command.param6;
+
+						} else {
+							param = vehicle_command.param7;
+						}
+
+						if (int(param) == 0) {
+							_control_data.type_data.angle.frames[i] =
+								ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+
+						} else if (int(param) == 1) {
+							_control_data.type_data.angle.frames[i] =
+								ControlData::TypeData::TypeAngle::Frame::AngularRate;
+
+						} else if (int(param) == 2) {
+							_control_data.type_data.angle.frames[i] =
+								ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
+
+						} else {
+							// Not supported, fallback to body angle.
+							_control_data.type_data.angle.frames[i] =
+								ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+						}
+					}
+
 					_control_data.type = ControlData::Type::Neutral; //always switch to neutral position
 
 					*control_data = &_control_data;

src/modules/vmount/input_rc.cpp

@@ -132,7 +132,7 @@ bool InputRC::_read_control_data_from_subscription(ControlData &control_data, bo
 		_first_time = false;
 
 		for (int i = 0; i < 3; ++i) {
-			control_data.type_data.angle.is_speed[i] = false;
+			control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
 			control_data.type_data.angle.angles[i] = new_aux_values[i] * M_PI_F;
 			control_data.stabilize_axis[i] = _do_stabilization;
 

src/modules/vmount/input_test.cpp

@@ -66,7 +66,7 @@ int InputTest::update(unsigned int timeout_ms, ControlData **control_data, bool
 	_control_data.type = ControlData::Type::Angle;
 
 	for (int i = 0; i < 3; ++i) {
-		_control_data.type_data.angle.is_speed[i] = false;
+		_control_data.type_data.angle.frames[i] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
 		_control_data.type_data.angle.angles[i] = _angles[i] * M_DEG_TO_RAD_F;
 
 		_control_data.stabilize_axis[i] = false;

src/modules/vmount/output.cpp

@@ -103,7 +103,7 @@ void OutputBase::_set_angle_setpoints(const ControlData *control_data)
 	switch (control_data->type) {
 	case ControlData::Type::Angle:
 		for (int i = 0; i < 3; ++i) {
-			if (control_data->type_data.angle.is_speed[i]) {
+			if (control_data->type_data.angle.frames[i] == ControlData::TypeData::TypeAngle::Frame::AngularRate) {
 				_angle_speeds[i] = control_data->type_data.angle.angles[i];
 
 			} else {