autogenerated headers for rev...

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/b4651a043fd65626de755dbbfda28c48b887408a

common/testsuite.h

@@ -9957,6 +9957,67 @@ static void mavlink_test_autopilot_state_for_gimbal_device(uint8_t system_id, ui
         MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
 }
 
+static void mavlink_test_gimbal_manager_set_tiltpan(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
+{
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
+        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_TILTPAN >= 256) {
+            return;
+        }
+#endif
+    mavlink_message_t msg;
+        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
+        uint16_t i;
+    mavlink_gimbal_manager_set_tiltpan_t packet_in = {
+        963497464,45.0,73.0,101.0,129.0,65,132,199
+    };
+    mavlink_gimbal_manager_set_tiltpan_t packet1, packet2;
+        memset(&packet1, 0, sizeof(packet1));
+        packet1.flags = packet_in.flags;
+        packet1.tilt = packet_in.tilt;
+        packet1.pan = packet_in.pan;
+        packet1.tilt_rate = packet_in.tilt_rate;
+        packet1.pan_rate = packet_in.pan_rate;
+        packet1.target_system = packet_in.target_system;
+        packet1.target_component = packet_in.target_component;
+        packet1.gimbal_device_id = packet_in.gimbal_device_id;
+        
+        
+#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
+        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
+           // cope with extensions
+           memset(MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_TILTPAN_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_TILTPAN_MIN_LEN);
+        }
+#endif
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_gimbal_manager_set_tiltpan_encode(system_id, component_id, &msg, &packet1);
+    mavlink_msg_gimbal_manager_set_tiltpan_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_gimbal_manager_set_tiltpan_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.flags , packet1.gimbal_device_id , packet1.tilt , packet1.pan , packet1.tilt_rate , packet1.pan_rate );
+    mavlink_msg_gimbal_manager_set_tiltpan_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_gimbal_manager_set_tiltpan_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.flags , packet1.gimbal_device_id , packet1.tilt , packet1.pan , packet1.tilt_rate , packet1.pan_rate );
+    mavlink_msg_gimbal_manager_set_tiltpan_decode(&msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+
+        memset(&packet2, 0, sizeof(packet2));
+        mavlink_msg_to_send_buffer(buffer, &msg);
+        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
+            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
+        }
+    mavlink_msg_gimbal_manager_set_tiltpan_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+        
+        memset(&packet2, 0, sizeof(packet2));
+    mavlink_msg_gimbal_manager_set_tiltpan_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.flags , packet1.gimbal_device_id , packet1.tilt , packet1.pan , packet1.tilt_rate , packet1.pan_rate );
+    mavlink_msg_gimbal_manager_set_tiltpan_decode(last_msg, &packet2);
+        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
+}
+
 static void mavlink_test_wifi_config_ap(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
 {
 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
@@ -12427,6 +12488,7 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
     mavlink_test_gimbal_device_set_attitude(system_id, component_id, last_msg);
     mavlink_test_gimbal_device_attitude_status(system_id, component_id, last_msg);
     mavlink_test_autopilot_state_for_gimbal_device(system_id, component_id, last_msg);
+    mavlink_test_gimbal_manager_set_tiltpan(system_id, component_id, last_msg);
     mavlink_test_wifi_config_ap(system_id, component_id, last_msg);
     mavlink_test_protocol_version(system_id, component_id, last_msg);
     mavlink_test_ais_vessel(system_id, component_id, last_msg);

message_definitions/common.xml

@@ -2235,14 +2235,14 @@
         <param index="1" label="Tag" minValue="0" increment="1">Target tag to jump to.</param>
         <param index="2" label="Repeat" minValue="0" increment="1">Repeat count.</param>
       </entry>
-      <entry value="1000" name="MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE" hasLocation="false" isDestination="false">
+      <entry value="1000" name="MAV_CMD_DO_GIMBAL_MANAGER_TILTPAN" hasLocation="false" isDestination="false">
         <wip/>
         <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
         <description>High level setpoint to be sent to a gimbal manager to set a gimbal attitude. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: a gimbal is never to react to this command but only the gimbal manager.</description>
-        <param index="1" label="Tilt angular velocity" units="deg/s">Tilt/pitch angular velocity (positive to point up).</param>
-        <param index="2" label="Pan angular velocity" units="deg/s">Pan/yaw angular velocity (positive to pan to the right).</param>
-        <param index="3" label="Tilt angle" units="deg" minValue="-180" maxValue="180">Pitch/tilt angle relative to world horizon (negative is to tilt down, positive to tilt up).</param>
-        <param index="4" label="Pan angle" units="deg" minValue="-180" maxValue="180">Yaw/pan angle (positive is pan to the right, relative to vehicle for PAN mode, absolute to North for HOLD mode) </param>
+        <param index="1" label="Tilt rate" units="deg/s">Tilt/pitch rate (positive to tilt up).</param>
+        <param index="2" label="Pan rate" units="deg/s">Pan/yaw rate (positive to pan to the right).</param>
+        <param index="3" label="Tilt angle" units="deg" minValue="-180" maxValue="180">Tilt/pitch angle (positive to tilt up, relative to vehicle for PAN mode, relative to world horizon for HOLD mode).</param>
+        <param index="4" label="Pan angle" units="deg" minValue="-180" maxValue="180">Pan/yaw angle (positive to pan to the right, relative to vehicle for PAN mode, absolute to North for HOLD mode).</param>
         <param index="5" label="Gimbal manager flags" enum="GIMBAL_MANAGER_FLAGS">Gimbal manager flags to use.</param>
         <param index="7" label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
       </entry>
@@ -6430,6 +6430,19 @@
       <field type="uint16_t" name="estimator_status" enum="ESTIMATOR_STATUS_FLAGS" display="bitmask">Bitmap indicating which estimator outputs are valid.</field>
       <field type="uint8_t" name="landed_state" enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
     </message>
+    <message id="287" name="GIMBAL_MANAGER_SET_TILTPAN">
+      <wip/>
+      <!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
+      <description>High level message to control a gimbal's tilt and pan angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.</description>
+      <field type="uint8_t" name="target_system">System ID</field>
+      <field type="uint8_t" name="target_component">Component ID</field>
+      <field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags to use.</field>
+      <field type="uint8_t" name="gimbal_device_id">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</field>
+      <field type="float" name="tilt" units="rad">Tilt/pitch angle (positive: up, negative: down, NaN to be ignored).</field>
+      <field type="float" name="pan" units="rad">Pan/yaw angle (positive: to the right, negative: to the left, NaN to be ignored).</field>
+      <field type="float" name="tilt_rate" units="rad/s">Tilt/pitch angular rate (positive: up, negative: down, NaN to be ignored).</field>
+      <field type="float" name="pan_rate" units="rad/s">Pan/yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).</field>
+    </message>
     <message id="299" name="WIFI_CONFIG_AP">
       <description>Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE</description>
       <field type="char[32]" name="ssid">Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.</field>