Report positive value for h480 yawMax and negative value for yawMin #1061
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
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.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.