mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 08:31:10 +00:00
Oleksandr Bezdieniezhnykh
288e7f8c46
ci/woodpecker/push/build-arm Pipeline failed
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>
20 lines
463 B
TOML
20 lines
463 B
TOML
[package]
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name = "gimbal_controller"
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version = "0.1.0"
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edition.workspace = true
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rust-version.workspace = true
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license.workspace = true
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publish.workspace = true
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authors.workspace = true
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[dependencies]
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shared = { workspace = true }
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tokio = { workspace = true }
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tracing = { workspace = true }
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serde = { workspace = true }
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thiserror = { workspace = true }
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async-trait = { workspace = true }
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[dev-dependencies]
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tokio = { workspace = true, features = ["test-util"] }
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