[AZ-653] gimbal_controller ViewPro A40 vendor UDP transport (batch 10)

Browse Source

Implements the vendor wire protocol for the A40 gimbal (XOR-8 checksum,
not CRC16 — task spec corrected against ArduPilot AP_Mount_Viewpro.h):
frame encode/decode, typed FrameId/CameraCommand/ImageSensor, A1 angles,
C1 camera, C2 set-zoom command builders, and a tokio UdpSocket transport
with bounded retry, per-command deadline, and atomic vendor-fault
counters surfaced via faults()/health(). GimbalControllerHandle::set_pose
and zoom now ride the transport when wired; remain disabled when no
transport is bound. 32/32 gimbal_controller tests green; workspace test
suite green except for a pre-existing flake in
mission_executor::state_machine::ac3_bounded_retry_then_success that
reproduces only under parallel workspace test load (passes 5/5 in
isolation; flagged in batch 8 report, unrelated to this batch).

Co-authored-by: Cursor <cursoragent@cursor.com>

...

This commit is contained in:

Oleksandr Bezdieniezhnykh

2026-05-19 20:07:32 +03:00

parent 0993b87541

commit 288e7f8c46

13 changed files with 1656 additions and 21 deletions

Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL

Download Patch File Download Diff File Expand all files Collapse all files

_docs/02_tasks/todo/AZ-653_gimbal_a40_transport.md → _docs/02_tasks/done/AZ-653_gimbal_a40_transport.md