vmount/mavlink: update gimbal information message

We should be using gimbal_manager_information and not
gimbal_device_information. Plus, this updates the fields and flags
according to the MAVLink changes.

msg/gimbal_device_information.msg

@@ -2,9 +2,12 @@ uint64 timestamp						# time since system start (microseconds)
 
 uint8[32] vendor_name
 uint8[32] model_name
+uint8[32] custom_name
 uint32 firmware_version
+uint32 hardware_version
+uint64 uid
 
-uint16 capability_flags
+uint16 cap_flags
 
 uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
 uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
@@ -17,11 +20,17 @@ uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
 uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
 uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
 uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
+uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
+
+uint16 custom_cap_flags
+
+float32 roll_min # [rad]
+float32 roll_max # [rad]
 
-float32 pitch_max # [rad]
 float32 pitch_min # [rad]
+float32 pitch_max # [rad]
 
-float32 yaw_max # [rad]
 float32 yaw_min # [rad]
+float32 yaw_max # [rad]
 
 uint8 gimbal_device_compid

msg/gimbal_manager_information.msg

@@ -1,13 +1,29 @@
 uint64 timestamp						# time since system start (microseconds)
 
-uint32 capability_flags
+uint32 cap_flags
+
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT = 1
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL = 2
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS = 4
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK = 16
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS = 32
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK = 128
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS = 256
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW = 512
+uint32 GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK = 1024
+uint32 GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
+uint32 GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL = 65536
+uint32 GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL = 131072
 
 uint8 gimbal_device_id
 
-float32 tilt_max # [rad]
-float32 tilt_min # [rad]
-float32 tilt_rate_max # [rad / s]
+float32 roll_min # [rad]
+float32 roll_max # [rad]
+
+float32 pitch_min # [rad]
+float32 pitch_max # [rad]
 
-float32 pan_max # [rad]
-float32 pan_min # [rad]
-float32 pan_rate_max # [rad / s]
+float32 yaw_min # [rad]
+float32 yaw_max # [rad]

src/modules/mavlink/mavlink_messages.cpp

@@ -70,8 +70,8 @@
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/geofence_result.h>
 #include <uORB/topics/gimbal_device_attitude_status.h>
-#include <uORB/topics/gimbal_device_information.h>
 #include <uORB/topics/gimbal_device_set_attitude.h>
+#include <uORB/topics/gimbal_manager_information.h>
 #include <uORB/topics/gimbal_manager_status.h>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -2078,12 +2078,12 @@ public:
 
 	unsigned get_size() override
 	{
-		return _gimbal_device_information_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN +
+		return _gimbal_manager_information_sub.advertised() ? (MAVLINK_MSG_ID_GIMBAL_MANAGER_INFORMATION_LEN +
 				MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
 	}
 
 private:
-	uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)};
+	uORB::Subscription _gimbal_manager_information_sub{ORB_ID(gimbal_manager_information)};
 
 	/* do not allow top copying this class */
 	MavlinkStreamGimbalManagerInformation(MavlinkStreamGimbalManagerInformation &) = delete;
@@ -2095,22 +2095,21 @@ protected:
 
 	bool send(const hrt_abstime t) override
 	{
-		gimbal_device_information_s gimbal_device_information;
+		gimbal_manager_information_s gimbal_manager_information;
 
-		if (_gimbal_device_information_sub.advertised() && _gimbal_device_information_sub.copy(&gimbal_device_information)) {
+		if (_gimbal_manager_information_sub.advertised() && _gimbal_manager_information_sub.copy(&gimbal_device_information)) {
 			// send out gimbal_manager_info with info from gimbal_device_information
 			mavlink_gimbal_manager_information_t msg{};
 			msg.time_boot_ms = gimbal_device_information.timestamp / 1000;
 			msg.gimbal_device_id = 0;
-			msg.cap_flags = gimbal_device_information.capability_flags;
+			msg.cap_flags = gimbal_device_information.cap_flags;
 
-			msg.tilt_max = gimbal_device_information.tilt_max;
-			msg.tilt_min = gimbal_device_information.tilt_min;
-			msg.tilt_rate_max = gimbal_device_information.tilt_rate_max;
-
-			msg.pan_max = gimbal_device_information.pan_max;
-			msg.pan_min = gimbal_device_information.pan_min;
-			msg.pan_rate_max = gimbal_device_information.pan_rate_max;
+			msg.roll_min = gimbal_device_information.roll_min;
+			msg.roll_max = gimbal_device_information.roll_max;
+			msg.pitch_min = gimbal_device_information.pitch_min;
+			msg.pitch_max = gimbal_device_information.pitch_max;
+			msg.yaw_min = gimbal_device_information.yaw_min;
+			msg.yaw_max = gimbal_device_information.yaw_max;
 
 			mavlink_msg_gimbal_manager_information_send_struct(_mavlink->get_channel(), &msg);
 
@@ -2172,7 +2171,6 @@ protected:
 		gimbal_manager_status_s gimbal_manager_status;
 
 		if (_gimbal_manager_status_sub.advertised() && _gimbal_manager_status_sub.copy(&gimbal_manager_status)) {
-			// send out gimbal_manager_info with info from gimbal_device_information
 			mavlink_gimbal_manager_status_t msg{};
 			msg.time_boot_ms = gimbal_manager_status.timestamp / 1000;
 			msg.gimbal_device_id = gimbal_manager_status.gimbal_device_id;
@@ -2240,7 +2238,6 @@ protected:
 		gimbal_device_set_attitude_s gimbal_device_set_attitude;
 
 		if (_gimbal_device_set_attitude_sub.advertised() && _gimbal_device_set_attitude_sub.copy(&gimbal_device_set_attitude)) {
-			// send out gimbal_manager_info with info from gimbal_device_information
 			mavlink_gimbal_device_set_attitude_t msg{};
 			msg.flags = gimbal_device_set_attitude.flags;
 			msg.target_system = gimbal_device_set_attitude.target_system;

src/modules/mavlink/mavlink_receiver.cpp

@@ -3012,13 +3012,20 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
 		      "vendor_name length doesn't match");
 	static_assert(sizeof(gimbal_information.model_name) == sizeof(gimbal_device_info_msg.model_name),
 		      "model_name length doesn't match");
+	static_assert(sizeof(gimbal_information.custom_name) == sizeof(gimbal_device_info_msg.custom_name),
+		      "custom_name length doesn't match");
 	memcpy(gimbal_information.vendor_name, gimbal_device_info_msg.vendor_name, sizeof(gimbal_information.vendor_name));
 	memcpy(gimbal_information.model_name, gimbal_device_info_msg.model_name, sizeof(gimbal_information.model_name));
+	memcpy(gimbal_information.custom_name, gimbal_device_info_msg.custom_name, sizeof(gimbal_information.custom_name));
 	gimbal_device_info_msg.vendor_name[sizeof(gimbal_device_info_msg.vendor_name) - 1] = '\0';
 	gimbal_device_info_msg.model_name[sizeof(gimbal_device_info_msg.model_name) - 1] = '\0';
+	gimbal_device_info_msg.custom_name[sizeof(gimbal_device_info_msg.custom_name) - 1] = '\0';
 
 	gimbal_information.firmware_version = gimbal_device_info_msg.firmware_version;
-	gimbal_information.capability_flags = gimbal_device_info_msg.cap_flags;
+	gimbal_information.hardware_version = gimbal_device_info_msg.hardware_version;
+	gimbal_information.cap_flags = gimbal_device_info_msg.cap_flags;
+	gimbal_information.custom_cap_flags = gimbal_device_info_msg.custom_cap_flags;
+	gimbal_information.uid = gimbal_device_info_msg.uid;
 
 	gimbal_information.pitch_max = gimbal_device_info_msg.pitch_max;
 	gimbal_information.pitch_min = gimbal_device_info_msg.pitch_min;
@@ -3029,7 +3036,6 @@ MavlinkReceiver::handle_message_gimbal_device_information(mavlink_message_t *msg
 	gimbal_information.gimbal_device_compid = msg->compid;
 
 	_gimbal_device_information_pub.publish(gimbal_information);
-
 }
 
 /**

src/modules/vmount/input_mavlink.cpp

@@ -40,7 +40,7 @@
 
 #include "input_mavlink.h"
 #include <uORB/Publication.hpp>
-#include <uORB/topics/gimbal_device_information.h>
+#include <uORB/topics/gimbal_manager_information.h>
 #include <uORB/topics/vehicle_roi.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -470,29 +470,26 @@ void InputMavlinkGimbalV2::_stream_gimbal_manager_status()
 
 void InputMavlinkGimbalV2::_stream_gimbal_manager_information()
 {
-	gimbal_device_information_s gimbal_device_info;
-	gimbal_device_info.timestamp = hrt_absolute_time();
-	const char vendor_name[] = "PX4";
-	const char model_name[] = "AUX gimbal";
-
-	strncpy((char *)gimbal_device_info.vendor_name, vendor_name, sizeof(gimbal_device_info.vendor_name));
-	strncpy((char *)gimbal_device_info.model_name, model_name, sizeof(gimbal_device_info.model_name));
-
-	gimbal_device_info.firmware_version = 0;
-	gimbal_device_info.capability_flags = 0;
-	gimbal_device_info.capability_flags = gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL |
-					      gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK |
-					      gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS |
-					      gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK |
-					      gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS |
-					      gimbal_device_information_s::GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK;
-
-	gimbal_device_info.pitch_max = M_PI_F / 2;
-	gimbal_device_info.pitch_min = -M_PI_F / 2;
-	gimbal_device_info.yaw_max = M_PI_F;
-	gimbal_device_info.yaw_min = -M_PI_F;
-
-	_gimbal_device_info_pub.publish(gimbal_device_info);
+	// TODO: Take gimbal_device_information into account.
+
+	gimbal_manager_information_s gimbal_manager_info;
+	gimbal_manager_info.timestamp = hrt_absolute_time();
+
+	gimbal_manager_info.cap_flags =
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL |
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK |
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS |
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK |
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS |
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK |
+		gimbal_manager_information_s::GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL;
+
+	gimbal_manager_info.pitch_max = M_PI_F / 2;
+	gimbal_manager_info.pitch_min = -M_PI_F / 2;
+	gimbal_manager_info.yaw_max = M_PI_F;
+	gimbal_manager_info.yaw_min = -M_PI_F;
+
+	_gimbal_manager_info_pub.publish(gimbal_manager_info);
 }
 
 int InputMavlinkGimbalV2::update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active)

src/modules/vmount/input_mavlink.h

@@ -46,7 +46,7 @@
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/gimbal_device_attitude_status.h>
-#include <uORB/topics/gimbal_device_information.h>
+#include <uORB/topics/gimbal_manager_information.h>
 #include <uORB/topics/gimbal_manager_status.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_roi.h>
@@ -150,7 +150,7 @@ private:
 
 	uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
 	uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
-	uORB::Publication<gimbal_device_information_s> _gimbal_device_info_pub{ORB_ID(gimbal_device_information)};
+	uORB::Publication<gimbal_manager_information_s> _gimbal_manager_info_pub{ORB_ID(gimbal_manager_information)};
 	uORB::Publication<gimbal_manager_status_s> _gimbal_manager_status_pub{ORB_ID(gimbal_manager_status)};
 	map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
 	uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;