Report positive value for h480 yawMax and negative value for yawMin #1061
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The h480 sim gimbal has no limit on its yaw axis. Before, it was reporting its yawMax as -1e+16 (value came from typhoon_h480.sdf.jinja:247) and its yawMin as 1e+16 (value came from typhoon_h480.sdf.jinja:248). The sign of these 2 needed to be switched, which is the fix made by this commit. The MAVLink GIMBAL_DEVICE_INFORMATION message does not specify how to represent infinity, but it does specify "positive: to the right, negative: to the left". Gazebo already considers the right the positive direction, and handles commands as expected. This commit just fixes the yawMin/yawMax limit reporting.
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
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@Jaeyoung-Lim this seems good to merge in, should we squash and merge? |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
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The h480 sim gimbal has no limit on its yaw axis. Before, it was reporting its yawMax as -1e+16 (value came from typhoon_h480.sdf.jinja:247) and its yawMin as 1e+16 (value came from typhoon_h480.sdf.jinja:248). The sign of these 2 needed to be switched, which is the fix made by this commit.
The MAVLink GIMBAL_DEVICE_INFORMATION message does not specify how to represent infinity, but it does specify "positive: to the right, negative: to the left". Gazebo already considers the right the positive direction, and handles commands as expected. This commit just fixes the yawMin/yawMax limit reporting.
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This contribution was sponsored by Firestorm
