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docs/en/advanced_config/parameter_reference.md
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@@ -32833,10 +32833,33 @@ assigned output functions require a reboot).
- `0`: AUX
- `1`: MAVLink gimbal protocol v1
- `2`: MAVLink gimbal protocol v2
- `3`: Forward to external gimbal manager
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | 0 | 2 | | 0 | | &nbsp; |
| &check; | 0 | 3 | | 0 | | &nbsp; |
### MNT_MODE_OUT2 (`INT32`) {#MNT_MODE_OUT2}
Second mount output mode.
Optional second output, driven in parallel to MNT_MODE_OUT with the
same setpoints. This allows the gimbal driver to talk to a second
gimbal in addition to the primary one.
Set to Disabled if not used. The two outputs must use different modes.
**Values:**
- `-1`: Disabled
- `0`: AUX
- `1`: MAVLink gimbal protocol v1
- `2`: MAVLink gimbal protocol v2
- `3`: Forward to external gimbal manager
| Reboot | minValue | maxValue | increment | default | unit | Read-Only |
| ------- | -------- | -------- | --------- | ------- | ---- | --------- |
| &check; | -1 | 3 | | -1 | | &nbsp; |
### MNT_RANGE_ROLL (`FLOAT`) {#MNT_RANGE_ROLL}
docs/en/middleware/dds_topics.md
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@@ -156,6 +156,7 @@ They are not build into the module, and hence are neither published or subscribe
- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
- [Event](../msg_docs/Event.md)
- [EventV0](../msg_docs/EventV0.md)
- [ExternalGimbalManagerStatus](../msg_docs/ExternalGimbalManagerStatus.md)
- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
- [FailureInjection](../msg_docs/FailureInjection.md)
- [FiducialMarkerPosReport](../msg_docs/FiducialMarkerPosReport.md)
@@ -180,6 +181,7 @@ They are not build into the module, and hence are neither published or subscribe
- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
- [GimbalManagerSetPitchyaw](../msg_docs/GimbalManagerSetPitchyaw.md)
- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
- [GpioConfig](../msg_docs/GpioConfig.md)
- [GpioIn](../msg_docs/GpioIn.md)
docs/en/msg_docs/ExternalGimbalManagerStatus.md
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---
pageClass: is-wide-page
---
# ExternalGimbalManagerStatus (UORB message)
External gimbal manager status.
Status of a gimbal manager running on another component (not us), decoded from
an incoming GIMBAL_MANAGER_STATUS message. Used to track which component
currently controls an external gimbal manager.
**TOPICS:** external_gimbal_manager_status
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ----------------------------------------------------------------- | -------- | ------------ | ---------- | ------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_manager_sysid"></a>manager_sysid | `uint8` | | | System id of the external gimbal manager |
| <a id="fld_manager_compid"></a>manager_compid | `uint8` | | | Component id of the external gimbal manager |
| <a id="fld_flags"></a>flags | `uint32` | | |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
| <a id="fld_primary_control_sysid"></a>primary_control_sysid | `uint8` | | |
| <a id="fld_primary_control_compid"></a>primary_control_compid | `uint8` | | |
| <a id="fld_secondary_control_sysid"></a>secondary_control_sysid | `uint8` | | |
| <a id="fld_secondary_control_compid"></a>secondary_control_compid | `uint8` | | |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/ExternalGimbalManagerStatus.msg)
::: details Click here to see original file
```c
# External gimbal manager status
#
# Status of a gimbal manager running on another component (not us), decoded from
# an incoming GIMBAL_MANAGER_STATUS message. Used to track which component
# currently controls an external gimbal manager.
uint64 timestamp # [us] Time since system start
uint8 manager_sysid # [-] System id of the external gimbal manager
uint8 manager_compid # [-] Component id of the external gimbal manager
uint32 flags # [-]
uint8 gimbal_device_id
uint8 primary_control_sysid
uint8 primary_control_compid
uint8 secondary_control_sysid
uint8 secondary_control_compid
```
:::
docs/en/msg_docs/GimbalManagerSetPitchyaw.md
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---
pageClass: is-wide-page
---
# GimbalManagerSetPitchyaw (UORB message)
Gimbal manager pitch/yaw setpoint.
This is sent by PX4 (acting as a gimbal manager client) to an
external gimbal manager). Streamed out as GIMBAL_MANAGER_SET_PITCHYAW.
**TOPICS:** gimbal_manager_set_pitchyaw
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ------------------------------------------------- | --------- | ------------ | --------------------------------------------- | ------------------------------------------- |
| <a id="fld_timestamp"></a>timestamp | `uint64` | us | | Time since system start |
| <a id="fld_target_system"></a>target_system | `uint8` | | | System id of the external gimbal manager |
| <a id="fld_target_component"></a>target_component | `uint8` | | | Component id of the external gimbal manager |
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | | Gimbal device to address (0 for all) |
| <a id="fld_flags"></a>flags | `uint32` | | [GIMBAL_MANAGER_FLAGS](#GIMBAL_MANAGER_FLAGS) | GIMBAL_MANAGER_FLAGS bitmask |
| <a id="fld_pitch"></a>pitch | `float32` | rad | | pitch angle (Invalid: NaN to ignore) |
| <a id="fld_yaw"></a>yaw | `float32` | rad | | yaw angle (Invalid: NaN to ignore) |
| <a id="fld_pitch_rate"></a>pitch_rate | `float32` | rad/s | | Pitch angular rate (Invalid: NaN to ignore) |
| <a id="fld_yaw_rate"></a>yaw_rate | `float32` | rad/s | | Yaw angular rate (Invalid: NaN to ignore) |
## Enums
### GIMBAL_MANAGER_FLAGS {#GIMBAL_MANAGER_FLAGS}
Used in field(s): [flags](#fld_flags)
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
| <a id="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 |
| <a id="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 |
| <a id="#GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME"></a> GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME | `uint32` | 64 |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetPitchyaw.msg)
::: details Click here to see original file
```c
# Gimbal manager pitch/yaw setpoint
#
# This is sent by PX4 (acting as a gimbal manager client) to an
# external gimbal manager). Streamed out as GIMBAL_MANAGER_SET_PITCHYAW.
uint64 timestamp # [us] Time since system start
uint8 target_system # [-] System id of the external gimbal manager
uint8 target_component # [-] Component id of the external gimbal manager
uint8 gimbal_device_id # [-] Gimbal device to address (0 for all)
uint32 flags # [@enum GIMBAL_MANAGER_FLAGS] GIMBAL_MANAGER_FLAGS bitmask
uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
uint32 GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME = 64
float32 pitch # [rad] [@invalid NaN to ignore] pitch angle
float32 yaw # [rad] [@invalid NaN to ignore] yaw angle
float32 pitch_rate # [rad/s] [@invalid NaN to ignore] Pitch angular rate
float32 yaw_rate # [rad/s] [@invalid NaN to ignore] Yaw angular rate
```
:::
docs/en/msg_docs/index.md
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- [EstimatorStates](EstimatorStates.md)
- [EstimatorStatus](EstimatorStatus.md)
- [EstimatorStatusFlags](EstimatorStatusFlags.md)
- [ExternalGimbalManagerStatus](ExternalGimbalManagerStatus.md) — External gimbal manager status.
- [FailsafeFlags](FailsafeFlags.md) — Input flags for the failsafe state machine set by the arming & health checks.
- [FailureDetectorStatus](FailureDetectorStatus.md)
- [FailureInjection](FailureInjection.md) — Failure injection configuration.
@@ -158,6 +159,7 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
- [GimbalManagerInformation](GimbalManagerInformation.md)
- [GimbalManagerSetAttitude](GimbalManagerSetAttitude.md)
- [GimbalManagerSetManualControl](GimbalManagerSetManualControl.md)
- [GimbalManagerSetPitchyaw](GimbalManagerSetPitchyaw.md) — Gimbal manager pitch/yaw setpoint.
- [GimbalManagerStatus](GimbalManagerStatus.md)
- [GpioConfig](GpioConfig.md) — GPIO configuration.
- [GpioIn](GpioIn.md) — GPIO mask and state.
docs/public/config/failsafe/index.js
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docs/public/config/failsafe/parameters.json
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