refactor: all gimbal essentials in dronecan frontend

Author: Ilyhadev

Src/modules/rcout/dronecan_frontend/dronecan_frontend.cpp

@@ -31,6 +31,9 @@ void DronecanPwmFrontend::update_params() {
     if (pwm_cmd_type >= CommandType::NUMBER_OF_COMMANDS) {
         pwm_cmd_type = CommandType::RAW_COMMAND;
     }
+    gimbal::gimbal_id = static_cast<uint8_t>
+        (paramsGetIntegerValue(IntParamsIndexes::PARAM_GIMBAL_ID));
+    gimbal::max_servos_travel = paramsGetIntegerValue(IntParamsIndexes::PARAM_SERVO_MAX_TRAVEL_DEG);
 }
 
 void DronecanPwmFrontend::gimbal_angular_command_callback(const uavcan_equipment_camera_gimbal_AngularCommand& msg) {

Src/modules/rcout/dronecan_frontend/params.yaml

@@ -6,3 +6,21 @@ pwm.input_type:
   default: 0
   min: 0
   max: 2
+  
+servo.max_travel_degrees:
+  type: Integer
+  note: Maximum angular travel from PWM minimum to maximum (degrees).
+  enum: PARAM_SERVO_MAX_TRAVEL_DEG
+  flags: mutable
+  default: 90
+  min: 0
+  max: 360
+  
+gimbal.id:
+  type: Integer
+  note: Current gimbal ID (to account several gimbals connected to one bus).
+  enum: PARAM_GIMBAL_ID
+  flags: mutable
+  default: 0
+  min: 0
+  max: 127

Src/modules/rcout/main.cpp

@@ -108,16 +108,6 @@ void RcoutModule::update_params() {
     for (auto& timing : timings) {
         timing.set_cmd_ttl(cmd_ttl);
     }
-    gimbal::gimbal_id = static_cast<uint8_t>
-        (paramsGetIntegerValue(IntParamsIndexes::PARAM_GIMBAL_ID));
-    new_max_servos_travel = paramsGetIntegerValue(IntParamsIndexes::PARAM_SERVO_MAX_TRAVEL_DEG);
-
-    if (new_max_servos_travel != cached_max_servos_travel) {
-        cached_max_servos_travel = new_max_servos_travel;
-        #if CONFIG_USE_DRONECAN == 1
-            gimbal::set_max_servos_angle(new_max_servos_travel);
-        #endif
-    }
 
     auto param_frequency = paramsGetIntegerValue(IntParamsIndexes::PARAM_PWM_FREQUENCY);
     auto frequency = static_cast<uint16_t>(param_frequency);

Src/modules/rcout/main.hpp

@@ -31,10 +31,6 @@ class RcoutModule : public Module {
 protected:
     void update_params() override;
     void spin_once() override;
-private:
-    // Current feedback
-    uint16_t new_max_servos_travel = 90;  // degrees
-    uint16_t cached_max_servos_travel = 90;
 };
 
 #endif  // SRC_MODULES_PWM_PWMMODULE_HPP_

Src/modules/rcout/params.yaml

@@ -16,24 +16,6 @@ pwm.frequency:
   min: 50
   max: 400
 
-servo.max_travel_degrees:
-  type: Integer
-  note: Maximum angular travel from PWM minimum to maximum (degrees).
-  enum: PARAM_SERVO_MAX_TRAVEL_DEG
-  flags: mutable
-  default: 90
-  min: 0
-  max: 360
-  
-gimbal.id:
-  type: Integer
-  note: Current gimbal ID (to account several gimbals connected to one bus).
-  enum: PARAM_GIMBAL_ID
-  flags: mutable
-  default: 0
-  min: 0
-  max: 127
-
 pwm1.ch:
   type: Integer
   note: "Index of setpoint channel. [-1; 255]. -1 means disabled, XYZ/RPY: 0 - roll, 1 - pitch, 2 - yaw, -1 - off."