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33 lines
2.7 KiB
Plaintext
33 lines
2.7 KiB
Plaintext
# MAVLink message: GIMBAL_DEVICE_ATTITUDE_STATUS
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# https://mavlink.io/en/messages/common.html#GIMBAL_DEVICE_ATTITUDE_STATUS
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std_msgs/Header header
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uint8 target_system # System ID
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uint8 target_component # Component ID
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uint16 flags # Current gimbal flags set (bitwise) - See GIMBAL_DEVICE_FLAGS
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#GIMBAL_DEVICE_FLAGS
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uint16 FLAGS_RETRACT = 1 # Set to retracted safe position (no stabilization), takes presedence over all other flags.
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uint16 FLAGS_NEUTRAL = 2 # Set to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (pitch=yaw=0) but may be any orientation.
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uint16 FLAGS_ROLL_LOCK = 4 # Lock roll angle to absolute angle relative to horizon (not relative to drone). This is generally the default with a stabilizing gimbal.
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uint16 FLAGS_PITCH_LOCK = 8 # Lock pitch angle to absolute angle relative to horizon (not relative to drone). This is generally the default.
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uint16 FLAGS_YAW_LOCK = 16 # Lock yaw angle to absolute angle relative to North (not relative to drone). If this flag is set, the quaternion is in the Earth frame with the x-axis pointing North (yaw absolute). If this flag is not set, the quaternion frame is in the Earth frame rotated so that the x-axis is pointing forward (yaw relative to vehicle).
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geometry_msgs/Quaternion q # Quaternion, x, y, z, w (0 0 0 1 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)
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float32 angular_velocity_x # X component of angular velocity (NaN if unknown)
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float32 angular_velocity_y # Y component of angular velocity (NaN if unknown)
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float32 angular_velocity_z # Z component of angular velocity (NaN if unknown)
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uint32 failure_flags # Failure flags (0 for no failure) (bitwise) - See GIMBAL_DEVICE_ERROR_FLAGS
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#GIMBAL_DEVICE_ERROR_FLAGS
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uint32 ERROR_FLAGS_AT_ROLL_LIMIT = 1 # Gimbal device is limited by hardware roll limit.
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uint32 ERROR_FLAGS_AT_PITCH_LIMIT = 2 # Gimbal device is limited by hardware pitch limit.
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uint32 ERROR_FLAGS_AT_YAW_LIMIT = 4 # Gimbal device is limited by hardware yaw limit.
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uint32 ERROR_FLAGS_ENCODER_ERROR = 8 # There is an error with the gimbal encoders.
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uint32 ERROR_FLAGS_POWER_ERROR = 16 # There is an error with the gimbal power source.
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uint32 ERROR_FLAGS_MOTOR_ERROR = 32 # There is an error with the gimbal motor's.
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uint32 ERROR_FLAGS_SOFTWARE_ERROR = 64 # There is an error with the gimbal's software.
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uint32 ERROR_FLAGS_COMMS_ERROR = 128 # There is an error with the gimbal's communication.
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uint32 ERROR_FLAGS_CALIBRATION_RUNNING = 256 # Gimbal is currently calibrating.
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