UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-25 05:20:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files

2
msg/GimbalDeviceSetAttitude.msg
View File

@@ -9,6 +9,8 @@ uint32 GIMBAL_DEVICE_FLAGS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4 uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4
uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8 uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8
uint32 GIMBAL_DEVICE_FLAGS_YAW_LOCK = 16 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 float32[4] q

4
src/modules/gimbal/output_mavlink.cpp
View File

@@ -245,6 +245,10 @@ void OutputMavlinkV2::_publish_gimbal_device_set_attitude()
if (_absolute_angle[2]) { 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_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); _gimbal_device_set_attitude_pub.publish(set_attitude);