Add gimbal v2 status and mission items #1233
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JonasVautherin
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Oct 21, 2020
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@JonasVautherin thanks for the review. I'm just waiting for mavlink/MAVSDK-Proto#184 before pushing here again. |
This enable the attitude feedback for the gimbal v2 MAVLink protocol.
This adds support to inject the gimbal attitude using the MAVLink gimbal v2 protocol instead of the deprecated v1 protocol. The v1 protocol is still useable if the autopilot does not seem to support v2, so if it does not respond to the request for GIMBAL_MANAGER_INFORMATION. The auto-detection is, for now, duplicated from the gimbal plugin. The idea is that plugins don't depend on each other to prevent dependency problems. In the future we might consider moving the v1 vs v2 check into the system but then again, we don't want to litter the system too much either. The hope is that v1 won't be around too much longer and we can just remove the magic.
This seems to happen because of rad/deg conversions in float.
This relaxes the check for pitch and yaw gimbal angles.
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