GimbalDeviceInformation (UORB message)

TOPICS: gimbal_deviceinformation

Fields

명칭	형식	Unit [Frame]	Range/Enum	설명
timestamp	uint64			time since system start (microseconds)
vendor_name	uint8[32]
model_name	uint8[32]
custom_name	uint8[32]
firmware_version	uint32
hardware_version	uint32
uid	uint64
cap_flags	uint16
custom_cap_flags	uint16
roll_min	float32	rad
roll_max	float32	rad
pitch_min	float32	rad
pitch_max	float32	rad
yaw_min	float32	rad
yaw_max	float32	rad
gimbal_device_id	uint8

Constants

명칭	형식	Value	설명
GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT	uint32	1
GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL	uint32	2
GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS	uint32	4
GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW	uint32	8
GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK	uint32	16
GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS	uint32	32
GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW	uint32	64
GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK	uint32	128
GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS	uint32	256
GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW	uint32	512
GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK	uint32	1024
GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW	uint32	2048

Source Message

Source file (GitHub)

Details

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uint64 timestamp						# time since system start (microseconds)

uint8[32] vendor_name
uint8[32] model_name
uint8[32] custom_name
uint32 firmware_version
uint32 hardware_version
uint64 uid

uint16 cap_flags

uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS = 4
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK = 16
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS = 32
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048

uint16 custom_cap_flags

float32 roll_min # [rad]
float32 roll_max # [rad]

float32 pitch_min # [rad]
float32 pitch_max # [rad]

float32 yaw_min # [rad]
float32 yaw_max # [rad]

uint8 gimbal_device_id