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Leverage yaw lock/follow support on gimbal manager v2 protocol #26474

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wants to merge 3 commits into from
Closed

Leverage yaw lock/follow support on gimbal manager v2 protocol #26474

wants to merge 3 commits into from

Commits on Mar 10, 2024

  1. AP_Mount_Backend.h: add getter for _yaw_lock

    @Davidsastresas
    Davidsastresas committed Mar 10, 2024
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  2. AP_Mount.cpp: handle gimbal yaw lock from gimbal_manager_pitchyaw flags: 

    currently the only way to command yaw lock/follow is by rc channels
MOUNT_LOCK (163) action. As we are moving to gimbal manager v2 protocol
we need some way to command this from gimbal manager protocol
    @Davidsastresas
    Davidsastresas committed Mar 10, 2024
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  3. AP_Mount_Backend.cpp: use yaw_lock and yaw_in_vehicle_frame gimbal_de… 

    …vice flags:

In AP we always use vehicle frame for mount yaw, so we must
specify it on gimbal_device_flags, so the receivers can
interpret gimbal_device_attitude_status correctly.

We are also adding yaw_lock flags, so the receiver can understand
the yaw lock/follow status of the mount
    @Davidsastresas
    Davidsastresas committed Mar 10, 2024
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