Mavlink ViewSheen Gimbal Component

Mavlink ViewSheen Camera Component for sending commands to a viewsheen gimbal on a companion computer or GCS

Gimbal Component

https://mavlink.io/en/services/gimbal.html
https://mavlink.io/en/services/gimbal_v2.html > Concepts - Gimbal Manager and Gimbal Device - To accommodate gimbals with varying capabilities, and various hardware setups, “a gimbal” is conceptually split into two parts:

Gimbal Device: the actual gimbal device, hardware and software. Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users. The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the M

import time, os, sys

from UAV.logging import logging
from UAV.mavlink.mavcom import MAVCom
from UAV.mavlink.component import Component, mavutil
# from viewsheen_sdk.gimbal_cntrl import pan_tilt, snapshot,  zoom, VS_IP_ADDRESS, VS_PORT, KeyReleaseThread
from UAV.camera_sdks.viewsheen.gimbal_cntrl import pan_tilt, snapshot,  zoom, VS_IP_ADDRESS, VS_PORT, KeyReleaseThread

from UAV.mavlink.vs_gimbal import *

# from UAV.imports import *   # TODO why is this relative import

---

source

GimbalClient

 GimbalClient (source_component, mav_type, debug)

Create a Viewsheen mavlink gimbal client component for send commands to a gimbal on a companion computer or GCS

	Details
source_component	used for component indication
mav_type	used for heartbeat MAV_TYPE indication
debug	logging level

---

source

GimbalServer

 GimbalServer (source_component, mav_type, debug)

Create a Viewsheen mavlink Camera Server Component for receiving commands from a gimbal on a companion computer or GCS

	Details
source_component	used for component indication
mav_type	used for heartbeat MAV_TYPE indication
debug	logging level

MAV_TYPE_GCS = mavutil.mavlink.MAV_TYPE_GCS
MAV_TYPE_CAMERA = mavutil.mavlink.MAV_TYPE_CAMERA
# cli = GimbalClient(mav_connection=None, source_component=11, mav_type=MAV_TYPE_GCS, debug=False)
# gim1 = GimbalServer(mav_connection=None, source_component=22, mav_type=MAV_TYPE_CAMERA, debug=False)

con1, con2 = "udpin:localhost:14445", "udpout:localhost:14445"
# con1, con2 = "/dev/ttyACM0", "/dev/ttyUSB0"
with MAVCom(con1, source_system=111, debug=False) as client:
    with MAVCom(con2, source_system=222, debug=False) as server:
        gimbal:GimbalClient = client.add_component(GimbalClient( mav_type=MAV_TYPE_GCS, source_component = 11, debug=False))
        server.add_component(GimbalServer( mav_type=MAV_TYPE_CAMERA, source_component = 22, debug=False))
        
        gimbal.wait_heartbeat(target_system=222, target_component=22, timeout=0.99)
        time.sleep(0.1)
        gimbal.set_target(222, 22)
        
        NAN = float("nan")
        # client.component[11]._test_command(222, 22, 1)
        # for i in range (1)  :
        #     time.sleep(0.01)
        gimbal.set_attitude( NAN, NAN, 0.0, 0.2)
        time.sleep(0.5)
        gimbal.set_attitude( NAN, NAN, 0.0, -0.2)
        time.sleep(0.5)
        gimbal.start_capture()
        # gimbal.set_zoom(1)
        
        
        # client.component[11].set_attitude(0, 0, 0, 0, 0, 0)

INFO   | uav.MAVCom      | 44.813 |  mavcom.py:393 | Thread-7 (listen)  | MAVLink Mav2: True, source_system: 111
INFO   | uav.MAVCom      | 44.915 |  mavcom.py:393 | Thread-8 (listen)  | MAVLink Mav2: True, source_system: 222
INFO   | uav.GimbalClien | 44.917 | component.py:111 | MainThread         | Component Started self.source_component = 11, self.mav_type = 6, self.source_system = 111
INFO   | uav.MAVCom      | 52.945 |  mavcom.py:441 | MainThread         | MAVCom  closed
INFO   | uav.GimbalClien | 53.953 | component.py:366 | MainThread         | GimbalClient closed
INFO   | uav.MAVCom      | 53.955 |  mavcom.py:441 | MainThread         | MAVCom  closed

set_mav_connection GimbalClient mavcom.py:107 self.mav_connection = <MAVCom>

KeyboardInterrupt: 

# assert False, "Stop here"