mirror of
https://github.com/azaion/autopilot.git
synced 2026-06-21 16:31:11 +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]
|
|
name = "gimbal_controller"
|
|
version = "0.1.0"
|
|
edition.workspace = true
|
|
rust-version.workspace = true
|
|
license.workspace = true
|
|
publish.workspace = true
|
|
authors.workspace = true
|
|
|
|
[dependencies]
|
|
shared = { workspace = true }
|
|
tokio = { workspace = true }
|
|
tracing = { workspace = true }
|
|
serde = { workspace = true }
|
|
thiserror = { workspace = true }
|
|
async-trait = { workspace = true }
|
|
|
|
[dev-dependencies]
|
|
tokio = { workspace = true, features = ["test-util"] }
|