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21 lines
900 B
Plaintext
21 lines
900 B
Plaintext
# Gimbal manager pitch/yaw setpoint
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#
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# This is sent by PX4 (acting as a gimbal manager client) to an
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# external gimbal manager). Streamed out as GIMBAL_MANAGER_SET_PITCHYAW.
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uint64 timestamp # [us] Time since system start
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uint8 target_system # [-] System id of the external gimbal manager
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uint8 target_component # [-] Component id of the external gimbal manager
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uint8 gimbal_device_id # [-] Gimbal device to address (0 for all)
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uint32 flags # [@enum GIMBAL_MANAGER_FLAGS] GIMBAL_MANAGER_FLAGS bitmask
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uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
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uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
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uint32 GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAME = 64
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float32 pitch # [rad] [@invalid NaN to ignore] pitch angle
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float32 yaw # [rad] [@invalid NaN to ignore] yaw angle
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float32 pitch_rate # [rad/s] [@invalid NaN to ignore] Pitch angular rate
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float32 yaw_rate # [rad/s] [@invalid NaN to ignore] Yaw angular rate
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