gimbal: implement angular rate setpoints

src/integration_tests/gimbal.cpp

@@ -20,8 +20,6 @@ void send_gimbal_roi_location(
 void receive_gimbal_result(Gimbal::Result result);
 void receive_gimbal_attitude_euler_angles(Telemetry::EulerAngle euler_angle);
 
-// Note, this test does not work in SITL because the gimbal does not move
-// unless it is armed.
 TEST(SitlTestGimbal, GimbalMove)
 {
     Mavsdk mavsdk;
@@ -48,7 +46,26 @@ TEST(SitlTestGimbal, GimbalMove)
 
     EXPECT_EQ(gimbal->set_mode(Gimbal::GimbalMode::YawFollow), Gimbal::Result::Success);
 
-    gimbal_pattern(gimbal);
+    LogInfo() << "Pitch down for a  bit";
+    EXPECT_EQ(gimbal->set_pitch_rate_and_yaw_rate(-10.0f, 0.0f), Gimbal::Result::Success);
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    LogInfo() << "Pitch up for a bit";
+    EXPECT_EQ(gimbal->set_pitch_rate_and_yaw_rate(10.0f, 0.0f), Gimbal::Result::Success);
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    LogInfo() << "Yaw right for a bit";
+    EXPECT_EQ(gimbal->set_pitch_rate_and_yaw_rate(0.0f, 10.0f), Gimbal::Result::Success);
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    LogInfo() << "Yaw left for a bit";
+    EXPECT_EQ(gimbal->set_pitch_rate_and_yaw_rate(0.0f, -10.0f), Gimbal::Result::Success);
+    std::this_thread::sleep_for(std::chrono::seconds(2));
+
+    LogInfo() << "Reset back to 0,0";
+    EXPECT_EQ(gimbal->set_pitch_and_yaw(0.0f, 0.0f), Gimbal::Result::Success);
+
+    std::this_thread::sleep_for(std::chrono::seconds(1));
 }
 
 TEST(SitlTestGimbal, GimbalAngles)