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fix(gimbal): add YAW_IN_VEHICLE/EARTH_FRAME flags to GIMBAL_DEVICE_SET_ATTITUDE (#27198)

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pfilimonov
2026-04-28 19:16:39 -03:00
committed by GitHub
parent 3ae123f2b5
commit eceec6c861
2 changed files with 6 additions and 0 deletions
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msg/GimbalDeviceSetAttitude.msg
+2
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@@ -9,6 +9,8 @@ uint32 GIMBAL_DEVICE_FLAGS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4
uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_DEVICE_FLAGS_YAW_LOCK = 16
uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
float32[4] q
src/modules/gimbal/output_mavlink.cpp
+4
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@@ -245,6 +245,10 @@ void OutputMavlinkV2::_publish_gimbal_device_set_attitude()
if (_absolute_angle[2]) {
set_attitude.flags |= gimbal_device_set_attitude_s::GIMBAL_DEVICE_FLAGS_YAW_LOCK;
set_attitude.flags |= gimbal_device_set_attitude_s::GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME;
} else {
set_attitude.flags |= gimbal_device_set_attitude_s::GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME;
}
_gimbal_device_set_attitude_pub.publish(set_attitude);