Yawsticks on gimbal, vehicle follows gimbal in slowmode #24242

Perrrewi · 2025-01-22T15:49:55Z

Solved Problem

The goal is to reduce latency in the position slow mode between the joystick input and what the user see. The idea is to add the yawstick on the gimbal setpoint and let the vehicle follow the gimbal attitude.

Originally after moving and releasing the joystick there was a residual motion in the image frame. With this solution, the residual motion is no longer present.

Test coverage

It has been tested in SIH and in flight on a multicopter using different camera lenses to see that the joystick inputs changes with the focal length.

Context

Switching into position slow mode with the vehicles yaw setpoint follows the gimbal ones the device attitude status reports ROLL|PITCH|YAW LOCK. Then the feedback signal from vehicle yaw follow the new reference:

Moving the Yawstick changes the gimbals absolute yaw, and the vehicle follows:

Moving the pitch stick changes the gimbals absolute pitch using parameter to map RC_MAP_AUX4 and MC_SLOW_MAP_PTCH:

Finally switching back to position mode and the gimbal device reports flags PITCH|ROLL Lock and the vehicle remain its attitude:

github-actions · 2025-01-22T15:56:00Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 1176 byte (0.06 %)]

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  [NEW]    +400  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/Gimbal.cpp
  +0.3%     +16  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +1.5%     +16  [ = ]       0    ../../src/modules/land_detector/LandDetector.cpp
  +1.1%     +16  [ = ]       0    ../../src/modules/mc_rate_control/MulticopterRateControl.cpp
  +0.0%     +16  [ = ]       0    [section .symtab]
 -25.0%     -16  [ = ]       0    stdio/lib_libfflush.c
-1.7% -1.19Ki  [ = ]       0    [Unmapped]
+0.2% +92.4Ki  +0.1% +1.25Ki    TOTAL

Updated: 2025-02-03T14:47:37

sfuhrer

I just have a couple of high-level comments so far:

there is a failed CI check (clang tidy)
v6x is out of flash - we may need to free up some flash before bringing this in

...ules/flight_mode_manager/tasks/ManualAccelerationSlow/flight_task_acceleration_slow_params.c

src/modules/logger/logged_topics.cpp

...odules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp

msg/GimbalManagerSetAttitude.msg

Perrrewi · 2025-01-22T17:37:36Z

I just have a couple of high-level comments so far:

there is a failed CI check (clang tidy)

v6x is out of flash - we may need to free up some flash before bringing this in

Thanks for the review @sfuhrer , I updated the PR accordingly. I'll talk in person about freeing up some flash.

… has taken off

…cations with queue length 1

sfuhrer

The feature is ready to merge, but waiting with merging until we have freed up enough flash (850bytes on v6x).

Perrrewi assigned MaEtUgR and Perrrewi Jan 22, 2025

MaEtUgR mentioned this pull request Jan 22, 2025

Gimbal v2 protocol: mix yaw from vehicle and pitch from ground station mavlink/mavlink#2202

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dagar marked this pull request as draft January 22, 2025 16:27

sfuhrer reviewed Jan 22, 2025

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Perrrewi force-pushed the pernilla/vehicle-follow-gimbal-in-slow-mode branch from a9ab69a to 929d713 Compare January 22, 2025 17:23

Perrrewi force-pushed the pernilla/vehicle-follow-gimbal-in-slow-mode branch from dd6a228 to f8cd789 Compare January 31, 2025 09:09

Perrrewi changed the title ~~DRAFT: Yawsticks on gimbal, vehicle follows gimbal in slowmode~~ Yawsticks on gimbal, vehicle follows gimbal in slowmode Jan 31, 2025

Perrrewi marked this pull request as ready for review January 31, 2025 10:24

Perrrewi added 3 commits February 3, 2025 15:40

Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle…

551d13e

… has taken off

Increase queue length to avoid automatically unadvertise queued publi…

5afc6a9

…cations with queue length 1

Improve readability

babea4b

Perrrewi force-pushed the pernilla/vehicle-follow-gimbal-in-slow-mode branch from f8cd789 to babea4b Compare February 3, 2025 14:41

sfuhrer approved these changes Feb 4, 2025

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Perrrewi mentioned this pull request Feb 4, 2025

Refactor: create gimbal library #24291

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Yawsticks on gimbal, vehicle follows gimbal in slowmode #24242

Yawsticks on gimbal, vehicle follows gimbal in slowmode #24242

Perrrewi commented Jan 22, 2025 •

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Yawsticks on gimbal, vehicle follows gimbal in slowmode #24242

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Yawsticks on gimbal, vehicle follows gimbal in slowmode #24242

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Perrrewi commented Jan 22, 2025 • edited Loading

Solved Problem

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🔎 FLASH Analysis

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