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This adds the possibility to add a delay before taking a picture or
starting a video. This is used to wait for a gimbal to reach its
orientation, or a vehicle to slow down.
The current implementation is not optimal because it is based on the LOITER_TIME waypoint instead of the NAV_DELAY command which would be
more appropriate but is not supported (yet).
LGTM.
Generally I hate delays as mechanisms for getting things ready - they either have to be tuned for particular use cases or made conservatively over-long. Is it possible/reasonable to instead provide checks that speed is correct and gimbal is in position (or don't they provide that feedback)?
Generally I hate delays as mechanisms for getting things ready - they either have to be tuned for particular use cases or made conservatively over-long. Is it possible/reasonable to instead provide checks that speed is correct and gimbal is in position (or don't they provide that feedback)?
You're right. The problem is that we just send a command to the gimbal what it's setpoint is but we really don't know how long it will take it. Even if the gimbal would only acknowledge the command when it has reached the setpoint, the firmware might not even wait for a command to be completed before continuing its mission. What I'm saying is that this would require a bunch of changes to avoid a delay like this.
Fair enough. I guess also that even if one camera gimbal provided position feedback, that wouldn't be true of all of them. @mrpollo Want to review this?
This adds the possibility to add a delay before taking a picture or
starting a video. This is used to wait for a gimbal to reach its
orientation, or a vehicle to slow down.
The current implementation is not optimal because it is based on the
`LOITER_TIME` waypoint instead of the `NAV_DELAY` command which would be
more appropriate but is not supported (yet).
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This adds the possibility to add a delay before taking a picture or
starting a video. This is used to wait for a gimbal to reach its
orientation, or a vehicle to slow down.
The current implementation is not optimal because it is based on the
LOITER_TIMEwaypoint instead of theNAV_DELAYcommand which would bemore appropriate but is not supported (yet).