Merge pull request #2361 from mavlink/pr-remove-gimbal-v1

Remove MAVLink gimbal v1 protocol
mavlink · Jul 29, 2024 · 0dc4478 · 0dc4478
2 parents da13d0a + e64553a
commit 0dc4478
Show file tree

Hide file tree

Showing 22 changed files with 8,635 additions and 13,949 deletions.
diff --git a/examples/gimbal_full_control/gimbal_full_control.cpp b/examples/gimbal_full_control/gimbal_full_control.cpp
@@ -8,7 +8,6 @@
 #include <cstdint>
 #include <mavsdk/mavsdk.h>
 #include <mavsdk/plugins/gimbal/gimbal.h>
-#include <mavsdk/plugins/telemetry/telemetry.h>
 #include <iostream>
 #include <future>
 #include <memory>
@@ -50,20 +49,11 @@ int main(int argc, char** argv)
     }
 
     // Instantiate plugins.
-    auto telemetry = Telemetry{system.value()};
     auto gimbal = Gimbal{system.value()};
 
-    // We want to listen to the camera/gimbal angle of the drone at 5 Hz.
-    const Telemetry::Result set_rate_result = telemetry.set_rate_camera_attitude(5.0);
-    if (set_rate_result != Telemetry::Result::Success) {
-        std::cerr << "Setting rate failed:" << set_rate_result << '\n';
-        return 1;
-    }
-
-    // Set up callback to monitor camera/gimbal angle
-    telemetry.subscribe_camera_attitude_euler([](Telemetry::EulerAngle angle) {
-        std::cout << "Gimbal angle pitch: " << angle.pitch_deg << " deg, yaw: " << angle.yaw_deg
-                  << " deg, roll: " << angle.roll_deg << " deg\n";
+    gimbal.subscribe_attitude([](Gimbal::Attitude attitude) {
+        std::cout << "Gimbal angle pitch: " << attitude.euler_angle_forward.pitch_deg
+                  << " deg, yaw: " << attitude.euler_angle_forward.yaw_deg << " deg\n";
     });
 
     std::cout << "Start controlling gimbal...\n";

diff --git a/proto b/proto
diff --git a/src/integration_tests/telemetry_async.cpp b/src/integration_tests/telemetry_async.cpp
@@ -5,8 +5,6 @@
 #include "mavsdk.h"
 #include "plugins/telemetry/telemetry.h"
 
-#define CAMERA_AVAILABLE 0 // Set to 1 if camera is available and should be tested.
-
 using namespace mavsdk;
 
 static void receive_result(Telemetry::Result result);
@@ -19,10 +17,6 @@ static void print_euler_angle(Telemetry::EulerAngle euler_angle);
 static void print_angular_velocity_body(Telemetry::AngularVelocityBody angular_velocity_body);
 static void print_fixedwing_metrics(Telemetry::FixedwingMetrics fixedwing_metrics);
 static void print_ground_truth(const Telemetry::GroundTruth& ground_truth);
-#if CAMERA_AVAILABLE == 1
-static void print_camera_quaternion(Telemetry::Quaternion quaternion);
-static void print_camera_euler_angle(Telemetry::EulerAngle euler_angle);
-#endif
 static void print_velocity_ned(Telemetry::VelocityNed velocity_ned);
 static void print_imu(Telemetry::Imu imu);
 static void print_gps_info(Telemetry::GpsInfo gps_info);
@@ -44,10 +38,6 @@ static bool _received_euler_angle = false;
 static bool _received_angular_velocity_body = false;
 static bool _received_fixedwing_metrics = false;
 static bool _received_ground_truth = false;
-#if CAMERA_AVAILABLE == 1
-static bool _received_camera_quaternion = false;
-static bool _received_camera_euler_angle = false;
-#endif
 static bool _received_velocity = false;
 static bool _received_imu = false;
 static bool _received_gps_info = false;
@@ -153,14 +143,6 @@ TEST(SitlTest, PX4TelemetryAsync)
     telemetry->subscribe_ground_truth(
         [](Telemetry::GroundTruth ground_truth) { print_ground_truth(ground_truth); });
 
-#if CAMERA_AVAILABLE == 1
-    telemetry->subscribe_camera_attitude_quaternion(
-        [](Telemetry::Quaternion quaternion) { print_camera_quaternion(quaternion); });
-
-    telemetry->subscribe_camera_attitude_euler(
-        [](Telemetry::EulerAngle euler_angle) { print_camera_euler_angle(euler_angle); });
-#endif
-
     telemetry->subscribe_velocity_ned(
         [](Telemetry::VelocityNed velocity_ned) { print_velocity_ned(velocity_ned); });
 
@@ -206,10 +188,6 @@ TEST(SitlTest, PX4TelemetryAsync)
     EXPECT_TRUE(_received_fixedwing_metrics);
     EXPECT_TRUE(_received_ground_truth);
     EXPECT_TRUE(_received_euler_angle);
-#if CAMERA_AVAILABLE == 1
-    EXPECT_TRUE(_received_camera_quaternion);
-    EXPECT_TRUE(_received_camera_euler_angle);
-#endif
     EXPECT_TRUE(_received_velocity);
     EXPECT_TRUE(_received_imu);
     EXPECT_TRUE(_received_gps_info);
@@ -297,24 +275,6 @@ void print_ground_truth(const Telemetry::GroundTruth& ground_truth)
     _received_ground_truth = true;
 }
 
-#if CAMERA_AVAILABLE == 1
-void print_camera_quaternion(Telemetry::Quaternion quaternion)
-{
-    std::cout << "Camera Quaternion: [ " << quaternion.w << ", " << quaternion.x << ", "
-              << quaternion.y << ", " << quaternion.z << " ]" << '\n';
-
-    _received_camera_quaternion = true;
-}
-
-void print_camera_euler_angle(Telemetry::EulerAngle euler_angle)
-{
-    std::cout << "Camera Euler angle: [ " << euler_angle.roll_deg << ", " << euler_angle.pitch_deg
-              << ", " << euler_angle.yaw_deg << " ] deg" << '\n';
-
-    _received_camera_euler_angle = true;
-}
-#endif
-
 void print_velocity_ned(Telemetry::VelocityNed velocity_ned)
 {
     std::cout << "Ground speed NED: [ " << velocity_ned.north_m_s << ", " << velocity_ned.east_m_s

diff --git a/src/mavsdk/plugins/gimbal/CMakeLists.txt b/src/mavsdk/plugins/gimbal/CMakeLists.txt
@@ -2,8 +2,6 @@ target_sources(mavsdk
     PRIVATE
     gimbal.cpp
     gimbal_impl.cpp
-    gimbal_protocol_v1.cpp
-    gimbal_protocol_v2.cpp
 )
 
 target_include_directories(mavsdk PUBLIC