mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
93 lines
4.9 KiB
Markdown
93 lines
4.9 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# GimbalDeviceInformation (UORB message)
|
|
|
|
**TOPICS:** gimbal_device_information
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ------------------------------------------------- | ----------- | ------------ | ---------- | -------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_vendor_name"></a>vendor_name | `uint8[32]` | | |
|
|
| <a id="fld_model_name"></a>model_name | `uint8[32]` | | |
|
|
| <a id="fld_custom_name"></a>custom_name | `uint8[32]` | | |
|
|
| <a id="fld_firmware_version"></a>firmware_version | `uint32` | | |
|
|
| <a id="fld_hardware_version"></a>hardware_version | `uint32` | | |
|
|
| <a id="fld_uid"></a>uid | `uint64` | | |
|
|
| <a id="fld_cap_flags"></a>cap_flags | `uint16` | | |
|
|
| <a id="fld_custom_cap_flags"></a>custom_cap_flags | `uint16` | | |
|
|
| <a id="fld_roll_min"></a>roll_min | `float32` | rad | |
|
|
| <a id="fld_roll_max"></a>roll_max | `float32` | rad | |
|
|
| <a id="fld_pitch_min"></a>pitch_min | `float32` | rad | |
|
|
| <a id="fld_pitch_max"></a>pitch_max | `float32` | rad | |
|
|
| <a id="fld_yaw_min"></a>yaw_min | `float32` | rad | |
|
|
| <a id="fld_yaw_max"></a>yaw_max | `float32` | rad | |
|
|
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 |
|
|
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
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
|
|
```
|
|
|
|
:::
|