Update gimbal manager v2 messages: #323
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rmackay9
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Jul 19, 2023
rmackay9
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Jul 19, 2023
| <description>Lock yaw angle to absolute angle relative to North (not relative to drone). If this flag is set, the quaternion is in the Earth frame with the x-axis pointing North (yaw absolute). If this flag is not set, the quaternion frame is in the Earth frame rotated so that the x-axis is pointing forward (yaw relative to vehicle).</description> | ||
| <description>Lock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).</description> | ||
| </entry> | ||
| <entry value="32" name="GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"> |
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These all seem redundant to me. four different ways to specify whether the yaw works in earth frame?!
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I think the previous comment refers to gimbal device capabilities, and as per my previous comment it could "make sense". My understanding is that the ones here refers to flags, to actual state of the gimbal, not the capabilities of the gimbal. But again that is my understanding of it, I could be wrong, this is just how mavlink/mavlink is.
rmackay9
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rmackay9
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Lots of them are not WIP anymore, and some important fields were added to some messages, like gimbal_device_id
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Merged, thanks! |
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Lots of them are not WIP anymore, and some important fields were added to some messages, like gimbal_device_id. I am preparing the matching PR for Ardupilot.
@rmackay9 could be interested on this one.
I am marking it as draft until the matching PR is ready for AP as well.