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gz: fix gimbal yaw, add dds publisher (#25754)

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* gz: correct gimbal yaw

* uxrce_dds: add publisher /fmu/out/gimbal_device_attitude_status

* chore: use explicit ENU_to_NED rotation

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

* format

---------

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Jacob Dahl
2025-10-14 11:45:43 -08:00
committed by GitHub
parent babe094d06
commit a64536802b
3 changed files with 13 additions and 4 deletions
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msg/GimbalDeviceAttitudeStatus.msg
+3
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@@ -9,6 +9,9 @@ uint16 DEVICE_FLAGS_NEUTRAL = 2
uint16 DEVICE_FLAGS_ROLL_LOCK = 4
uint16 DEVICE_FLAGS_PITCH_LOCK = 8
uint16 DEVICE_FLAGS_YAW_LOCK = 16
uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
float32[4] q
float32 angular_velocity_x