mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-02-07 10:52:35 +08:00
98fde4cbac
When we use a gimbal connected via "RC", so PWM via the Aux channels, we need to set the gimbal_device_id to 1 as per the protocol. This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and fixed the name of that variable while at it.
37 lines
1022 B
Plaintext
37 lines
1022 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint8[32] vendor_name
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uint8[32] model_name
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uint8[32] custom_name
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uint32 firmware_version
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uint32 hardware_version
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uint64 uid
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uint16 cap_flags
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS = 4
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK = 16
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS = 32
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
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uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
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uint16 custom_cap_flags
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float32 roll_min # [rad]
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float32 roll_max # [rad]
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float32 pitch_min # [rad]
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float32 pitch_max # [rad]
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float32 yaw_min # [rad]
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float32 yaw_max # [rad]
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uint8 gimbal_device_id
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