mavlink: add gimbal mode to talk to gimbal device

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -261,7 +261,7 @@ else
 	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
 
 	# Onboard link to gimbal
-	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m onboard
+	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal
 fi
 
 # execute autostart post script if any

src/modules/mavlink/mavlink_main.cpp

@@ -1680,6 +1680,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 
 		break;
 
+	case MAVLINK_MODE_GIMBAL:
+		// Note: streams requiring low latency come first
+		configure_stream_local("AUTOPILOT_STATE_FOR_GIMBAL_DEVICE", 20.0f);
+		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 20.0f);
+		break;
+
 	case MAVLINK_MODE_EXTVISION:
 		configure_stream_local("HIGHRES_IMU", unlimited_rate);		// for VIO
 
@@ -2044,6 +2050,9 @@ Mavlink::task_main(int argc, char *argv[])
 					} else if (strcmp(myoptarg, "extvisionmin") == 0) {
 						_mode = MAVLINK_MODE_EXTVISIONMIN;
 
+					} else if (strcmp(myoptarg, "gimbal") == 0) {
+						_mode = MAVLINK_MODE_GIMBAL;
+
 					} else {
 						PX4_ERR("invalid mode");
 						err_flag = true;
@@ -3074,7 +3083,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
 					"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
 #endif
-	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvsision",
+	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal",
 					"Mode: sets default streams and rates", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
 #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)

src/modules/mavlink/mavlink_main.h

@@ -194,7 +194,7 @@ public:
 		MAVLINK_MODE_MINIMAL,
 		MAVLINK_MODE_EXTVISION,
 		MAVLINK_MODE_EXTVISIONMIN,
-
+		MAVLINK_MODE_GIMBAL,
 		MAVLINK_MODE_COUNT
 	};
 
@@ -243,6 +243,9 @@ public:
 		case MAVLINK_MODE_EXTVISIONMIN:
 			return "ExtVisionMin";
 
+		case MAVLINK_MODE_GIMBAL:
+			return "Gimbal";
+
 		default:
 			return "Unknown";
 		}

src/modules/mavlink/module.yaml

@@ -44,6 +44,8 @@ parameters:
                 #6: Iridium # as the user does not need to configure this, hide it from the UI
                 7: Minimal
                 8: External Vision
+                #9: External Vision Minimal # hidden
+                10: Gimbal
             reboot_required: true
             num_instances: *max_num_config_instances
             default: [0, 2, 0]