Adapt onbaord low bandwidth MAVLink stream profile #22475
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
It only publishes when the information is available on uORB and is useful for the groundstation to show the gimbal's status.
There are MAVLink enabled gimbals that directly consume RC channel data. The gimbal controls stutter with this profile when the rate is too low.
It's required with 2Hz by some MAVLink enabled payloads.
dagar
approved these changes
Dec 1, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Solved Problem
When looking through the
MAVLINK_MODE_ONBOARD_LOW_BANDWIDTHMAVLink streams which we heavily rely on I found that some of them are different from other streams or don't meet certain MAVLink payload's requirements.Solution
MAVLINK_MODE_ONBOARD_LOW_BANDWIDTHMOUNT_ORIENTATIONstream to the normal profile. It's only sent out when thegimbalmodule publishes it and available in almost all other profiles.Changelog Entry
Alternatives
Ideally we shift towards components requesting the streams they need at the rate required. Until then these adjustments make PX4 more compatible.
Test coverage