Enable gimbal control using SET_ACTUATOR_CONTROL_TARGET while controlling the vehicle offboard #12146
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Jaeyoung-Lim
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julianoes
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Describe problem solved by the proposed pull request
When trying to control the gimbal using mavlink command
SET_ACTUATOR_CONTROL_TARGET, all other will be ignored. This results in a crash when you try the gimbal withSET_ACTUATOR_CONTROL_TARGETand fly the vehicle in offboard mode by body_rate and thrust setpoints.( Issue reported in #12029)This PR sets a flag so that not all setpoints are ignored when
SET_ACTUATOR_CONTROL_TARGETis controlling the gimbal control group. This enables applications such as human tracking while the vehicle is in offboard mode.Test data / coverage
The gimbal actuator setpoints were tested while the vehicle was flown a circular trajectory with body_rate and thrust setpoints. vmount was disabled in order to control the gimbal directly in all the tests. Video
https://review.px4.io/plot_app?log=88dfba29-549d-4dc0-bf86-bc3e68815a33
Describe your preferred solution
SET_ACTUATOR_CONTROL_TARGETis not ignored iff the control group of the actuator setpoint is a gimbal.Additional context
Sending high rate actuator_setpoints still make the vehicle unstable. body_rate setpoints becomes jittery when actuator setpoints are sent at high rates(100Hz). This is still being looked into, but enabling this at 10Hz seems still worth merging into master.
Sending actuator_setpoints(group_mix=2) at 10Hz
log: https://review.px4.io/plot_app?log=88dfba29-549d-4dc0-bf86-bc3e68815a33
Sending actuator_setpoints(group_mix=2) at 100Hz
log: https://review.px4.io/plot_app?log=5fc25c22-ab35-41b4-b23e-4633e708935c