AZ-654 SweepEngine: pendulum default, Raster/LawnMower variants
reserved and explicitly NotImplemented (no silent fallback per AC-3).
Time injected via next_step(now) for deterministic dwell tests.
AZ-655 PlanExecutor: linear yaw/pitch interpolation between PanGoals
with self-throttle (default 50 ms); stats expose
commands_emitted/dropped_to_throttle counters. PanGoal/PanPlan added
to shared::models::gimbal (spec drift: data_model.md §PanPlan flagged
for next doc sync).
AZ-656 CentreOnTarget: zoom-aware proportional control loop (correction
~ 1/zoom); target_lost debounced — fires once per loss streak, resets
on bbox return. Also fixes the misleadingly-named monotonic_ns() helper
introduced by AZ-653 that used SystemTime::now(): GimbalController now
owns a shared::clock::MonoClock and stamps GimbalState::ts_monotonic_ns
via clock.elapsed_ns(). AZ-656 AC-2 forced the correction; integration
test verifies the fix end-to-end.
58/58 gimbal_controller tests green (47 unit + 7 AZ-653 integration +
4 new batch_11 integration). Workspace test suite green this run.
Co-authored-by: Cursor <cursoragent@cursor.com>
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>
Oleksandr Bezdieniezhnykh