telemetry: remove camera attitude

This is better covered by the gimbal plugin.

examples/gimbal_full_control/gimbal_full_control.cpp

@@ -8,7 +8,6 @@
 #include <cstdint>
 #include <mavsdk/mavsdk.h>
 #include <mavsdk/plugins/gimbal/gimbal.h>
-#include <mavsdk/plugins/telemetry/telemetry.h>
 #include <iostream>
 #include <future>
 #include <memory>
@@ -50,20 +49,11 @@ int main(int argc, char** argv)
     }
 
     // Instantiate plugins.
-    auto telemetry = Telemetry{system.value()};
     auto gimbal = Gimbal{system.value()};
 
-    // We want to listen to the camera/gimbal angle of the drone at 5 Hz.
-    const Telemetry::Result set_rate_result = telemetry.set_rate_camera_attitude(5.0);
-    if (set_rate_result != Telemetry::Result::Success) {
-        std::cerr << "Setting rate failed:" << set_rate_result << '\n';
-        return 1;
-    }
-
-    // Set up callback to monitor camera/gimbal angle
-    telemetry.subscribe_camera_attitude_euler([](Telemetry::EulerAngle angle) {
-        std::cout << "Gimbal angle pitch: " << angle.pitch_deg << " deg, yaw: " << angle.yaw_deg
-                  << " deg, roll: " << angle.roll_deg << " deg\n";
+    gimbal.subscribe_attitude([](Gimbal::Attitude attitude) {
+        std::cout << "Gimbal angle pitch: " << attitude.euler_angle_forward.pitch_deg
+                  << " deg, yaw: " << attitude.euler_angle_forward.yaw_deg << " deg\n";
     });
 
     std::cout << "Start controlling gimbal...\n";

src/integration_tests/telemetry_async.cpp

@@ -5,8 +5,6 @@
 #include "mavsdk.h"
 #include "plugins/telemetry/telemetry.h"
 
-#define CAMERA_AVAILABLE 0 // Set to 1 if camera is available and should be tested.
-
 using namespace mavsdk;
 
 static void receive_result(Telemetry::Result result);
@@ -19,10 +17,6 @@ static void print_euler_angle(Telemetry::EulerAngle euler_angle);
 static void print_angular_velocity_body(Telemetry::AngularVelocityBody angular_velocity_body);
 static void print_fixedwing_metrics(Telemetry::FixedwingMetrics fixedwing_metrics);
 static void print_ground_truth(const Telemetry::GroundTruth& ground_truth);
-#if CAMERA_AVAILABLE == 1
-static void print_camera_quaternion(Telemetry::Quaternion quaternion);
-static void print_camera_euler_angle(Telemetry::EulerAngle euler_angle);
-#endif
 static void print_velocity_ned(Telemetry::VelocityNed velocity_ned);
 static void print_imu(Telemetry::Imu imu);
 static void print_gps_info(Telemetry::GpsInfo gps_info);
@@ -44,10 +38,6 @@ static bool _received_euler_angle = false;
 static bool _received_angular_velocity_body = false;
 static bool _received_fixedwing_metrics = false;
 static bool _received_ground_truth = false;
-#if CAMERA_AVAILABLE == 1
-static bool _received_camera_quaternion = false;
-static bool _received_camera_euler_angle = false;
-#endif
 static bool _received_velocity = false;
 static bool _received_imu = false;
 static bool _received_gps_info = false;
@@ -153,14 +143,6 @@ TEST(SitlTest, PX4TelemetryAsync)
     telemetry->subscribe_ground_truth(
         [](Telemetry::GroundTruth ground_truth) { print_ground_truth(ground_truth); });
 
-#if CAMERA_AVAILABLE == 1
-    telemetry->subscribe_camera_attitude_quaternion(
-        [](Telemetry::Quaternion quaternion) { print_camera_quaternion(quaternion); });
-
-    telemetry->subscribe_camera_attitude_euler(
-        [](Telemetry::EulerAngle euler_angle) { print_camera_euler_angle(euler_angle); });
-#endif
-
     telemetry->subscribe_velocity_ned(
         [](Telemetry::VelocityNed velocity_ned) { print_velocity_ned(velocity_ned); });
 
@@ -206,10 +188,6 @@ TEST(SitlTest, PX4TelemetryAsync)
     EXPECT_TRUE(_received_fixedwing_metrics);
     EXPECT_TRUE(_received_ground_truth);
     EXPECT_TRUE(_received_euler_angle);
-#if CAMERA_AVAILABLE == 1
-    EXPECT_TRUE(_received_camera_quaternion);
-    EXPECT_TRUE(_received_camera_euler_angle);
-#endif
     EXPECT_TRUE(_received_velocity);
     EXPECT_TRUE(_received_imu);
     EXPECT_TRUE(_received_gps_info);
@@ -297,24 +275,6 @@ void print_ground_truth(const Telemetry::GroundTruth& ground_truth)
     _received_ground_truth = true;
 }
 
-#if CAMERA_AVAILABLE == 1
-void print_camera_quaternion(Telemetry::Quaternion quaternion)
-{
-    std::cout << "Camera Quaternion: [ " << quaternion.w << ", " << quaternion.x << ", "
-              << quaternion.y << ", " << quaternion.z << " ]" << '\n';
-
-    _received_camera_quaternion = true;
-}
-
-void print_camera_euler_angle(Telemetry::EulerAngle euler_angle)
-{
-    std::cout << "Camera Euler angle: [ " << euler_angle.roll_deg << ", " << euler_angle.pitch_deg
-              << ", " << euler_angle.yaw_deg << " ] deg" << '\n';
-
-    _received_camera_euler_angle = true;
-}
-#endif
-
 void print_velocity_ned(Telemetry::VelocityNed velocity_ned)
 {
     std::cout << "Ground speed NED: [ " << velocity_ned.north_m_s << ", " << velocity_ned.east_m_s

src/mavsdk/plugins/telemetry/include/plugins/telemetry/telemetry.h

@@ -1266,62 +1266,6 @@ class Telemetry : public PluginBase {
      */
     AngularVelocityBody attitude_angular_velocity_body() const;
 
-    /**
-     * @brief Callback type for subscribe_camera_attitude_quaternion.
-     */
-    using CameraAttitudeQuaternionCallback = std::function<void(Quaternion)>;
-
-    /**
-     * @brief Handle type for subscribe_camera_attitude_quaternion.
-     */
-    using CameraAttitudeQuaternionHandle = Handle<Quaternion>;
-
-    /**
-     * @brief Subscribe to 'camera attitude' updates (quaternion).
-     */
-    CameraAttitudeQuaternionHandle
-    subscribe_camera_attitude_quaternion(const CameraAttitudeQuaternionCallback& callback);
-
-    /**
-     * @brief Unsubscribe from subscribe_camera_attitude_quaternion
-     */
-    void unsubscribe_camera_attitude_quaternion(CameraAttitudeQuaternionHandle handle);
-
-    /**
-     * @brief Poll for 'Quaternion' (blocking).
-     *
-     * @return One Quaternion update.
-     */
-    Quaternion camera_attitude_quaternion() const;
-
-    /**
-     * @brief Callback type for subscribe_camera_attitude_euler.
-     */
-    using CameraAttitudeEulerCallback = std::function<void(EulerAngle)>;
-
-    /**
-     * @brief Handle type for subscribe_camera_attitude_euler.
-     */
-    using CameraAttitudeEulerHandle = Handle<EulerAngle>;
-
-    /**
-     * @brief Subscribe to 'camera attitude' updates (Euler).
-     */
-    CameraAttitudeEulerHandle
-    subscribe_camera_attitude_euler(const CameraAttitudeEulerCallback& callback);
-
-    /**
-     * @brief Unsubscribe from subscribe_camera_attitude_euler
-     */
-    void unsubscribe_camera_attitude_euler(CameraAttitudeEulerHandle handle);
-
-    /**
-     * @brief Poll for 'EulerAngle' (blocking).
-     *
-     * @return One EulerAngle update.
-     */
-    EulerAngle camera_attitude_euler() const;
-
     /**
      * @brief Callback type for subscribe_velocity_ned.
      */
@@ -2064,30 +2008,15 @@ class Telemetry : public PluginBase {
 
     /**
      * @brief Set rate of camera attitude updates.
-     *
-     * This function is non-blocking. See 'set_rate_camera_attitude' for the blocking counterpart.
-     */
-    void set_rate_camera_attitude_async(double rate_hz, const ResultCallback callback);
-
-    /**
-     * @brief Set rate of camera attitude updates.
-     *
-     * This function is blocking. See 'set_rate_camera_attitude_async' for the non-blocking
-     * counterpart.
-     *
-     * @return Result of request.
-     */
-    Result set_rate_camera_attitude(double rate_hz) const;
-
-    /**
-     * @brief Set rate to 'ground speed' updates (NED).
+     * Set rate to 'ground speed' updates (NED).
      *
      * This function is non-blocking. See 'set_rate_velocity_ned' for the blocking counterpart.
      */
     void set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback);
 
     /**
-     * @brief Set rate to 'ground speed' updates (NED).
+     * @brief Set rate of camera attitude updates.
+     * Set rate to 'ground speed' updates (NED).
      *
      * This function is blocking. See 'set_rate_velocity_ned_async' for the non-blocking
      * counterpart.

src/mavsdk/plugins/telemetry/mocks/telemetry_mock.h

@@ -51,15 +51,6 @@ class MockTelemetry {
         subscribe_attitude_euler,
         Telemetry::AttitudeEulerHandle(Telemetry::AttitudeEulerCallback)){};
     MOCK_CONST_METHOD1(unsubscribe_attitude_euler, void(Telemetry::AttitudeEulerHandle)){};
-    MOCK_CONST_METHOD1(
-        subscribe_camera_attitude_quaternion,
-        Telemetry::AttitudeQuaternionHandle(Telemetry::AttitudeQuaternionCallback)){};
-    MOCK_CONST_METHOD1(
-        unsubscribe_camera_attitude_quaternion, void(Telemetry::AttitudeQuaternionHandle)){};
-    MOCK_CONST_METHOD1(
-        subscribe_camera_attitude_euler,
-        Telemetry::AttitudeEulerHandle(Telemetry::AttitudeEulerCallback)){};
-    MOCK_CONST_METHOD1(unsubscribe_camera_attitude_euler, void(Telemetry::AttitudeEulerHandle)){};
     MOCK_CONST_METHOD1(
         subscribe_velocity_ned, Telemetry::VelocityNedHandle(Telemetry::VelocityNedCallback)){};
     MOCK_CONST_METHOD1(unsubscribe_velocity_ned, void(Telemetry::VelocityNedHandle)){};
@@ -125,7 +116,6 @@ class MockTelemetry {
     MOCK_METHOD1(set_rate_landed_state, Telemetry::Result(double)){};
     MOCK_METHOD1(set_rate_attitude_quaternion, Telemetry::Result(double)){};
     MOCK_METHOD1(set_rate_attitude_euler, Telemetry::Result(double)){};
-    MOCK_METHOD1(set_rate_camera_attitude, Telemetry::Result(double)){};
     MOCK_METHOD1(set_rate_velocity_ned, Telemetry::Result(double)){};
     MOCK_METHOD1(set_rate_gps_info, Telemetry::Result(double)){};
     MOCK_METHOD1(set_rate_raw_gps, Telemetry::Result(double)){};
@@ -153,7 +143,6 @@ class MockTelemetry {
     MOCK_CONST_METHOD2(
         set_rate_attitude_quaternion_async, void(double, Telemetry::ResultCallback)){};
     MOCK_CONST_METHOD2(set_rate_attitude_euler_async, void(double, Telemetry::ResultCallback)){};
-    MOCK_CONST_METHOD2(set_rate_camera_attitude_async, void(double, Telemetry::ResultCallback)){};
     MOCK_CONST_METHOD2(set_rate_velocity_ned_async, void(double, Telemetry::ResultCallback)){};
     MOCK_CONST_METHOD2(set_rate_gps_info_async, void(double, Telemetry::ResultCallback)){};
     MOCK_CONST_METHOD2(set_rate_battery_async, void(double, Telemetry::ResultCallback)){};

src/mavsdk/plugins/telemetry/telemetry.cpp

@@ -188,38 +188,6 @@ Telemetry::AngularVelocityBody Telemetry::attitude_angular_velocity_body() const
     return _impl->attitude_angular_velocity_body();
 }
 
-Telemetry::CameraAttitudeQuaternionHandle
-Telemetry::subscribe_camera_attitude_quaternion(const CameraAttitudeQuaternionCallback& callback)
-{
-    return _impl->subscribe_camera_attitude_quaternion(callback);
-}
-
-void Telemetry::unsubscribe_camera_attitude_quaternion(CameraAttitudeQuaternionHandle handle)
-{
-    _impl->unsubscribe_camera_attitude_quaternion(handle);
-}
-
-Telemetry::Quaternion Telemetry::camera_attitude_quaternion() const
-{
-    return _impl->camera_attitude_quaternion();
-}
-
-Telemetry::CameraAttitudeEulerHandle
-Telemetry::subscribe_camera_attitude_euler(const CameraAttitudeEulerCallback& callback)
-{
-    return _impl->subscribe_camera_attitude_euler(callback);
-}
-
-void Telemetry::unsubscribe_camera_attitude_euler(CameraAttitudeEulerHandle handle)
-{
-    _impl->unsubscribe_camera_attitude_euler(handle);
-}
-
-Telemetry::EulerAngle Telemetry::camera_attitude_euler() const
-{
-    return _impl->camera_attitude_euler();
-}
-
 Telemetry::VelocityNedHandle Telemetry::subscribe_velocity_ned(const VelocityNedCallback& callback)
 {
     return _impl->subscribe_velocity_ned(callback);
@@ -642,16 +610,6 @@ Telemetry::Result Telemetry::set_rate_attitude_euler(double rate_hz) const
     return _impl->set_rate_attitude_euler(rate_hz);
 }
 
-void Telemetry::set_rate_camera_attitude_async(double rate_hz, const ResultCallback callback)
-{
-    _impl->set_rate_camera_attitude_async(rate_hz, callback);
-}
-
-Telemetry::Result Telemetry::set_rate_camera_attitude(double rate_hz) const
-{
-    return _impl->set_rate_camera_attitude(rate_hz);
-}
-
 void Telemetry::set_rate_velocity_ned_async(double rate_hz, const ResultCallback callback)
 {
     _impl->set_rate_velocity_ned_async(rate_hz, callback);