AUTOPILOT.capabilities includes gimbal manager protocol bit #23692
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hamishwillee
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Sep 19, 2024
julianoes
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Ah I see, so now the problem is that the param might not be in the build. This means I need to resort to the old param API. |
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Depends on PX4/PX4-SITL_gazebo-classic#1057. |
bkueng
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Oct 16, 2024
Sets MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER bit in AUTOPILOT.capabilities
We should probably only set the flag if the gimbal manager is actually set up using the MNT_MODE_IN parameter.
If the gimbal module is not built in we don't have the MNT_MODE_IN param, so we need to deal with that.
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Thanks @bkueng for review and @julianoes for getting this in. |
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MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER was added in mavlink/mavlink#2144 to allow a GCS to query if an autopilot/component supports gimbal managers.
This sets the bit to be output.
Note, PX4 may not yet have updated MAVLink to get this bit (so may fail tests). Also may need more robust setting. This is so we don't forget.