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63 lines
3.0 KiB
Markdown
63 lines
3.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GimbalDeviceSetAttitude (UORB message)
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**TOPICS:** gimbal_device_set_attitude
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ----------------------------------------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
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| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
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| <a id="fld_target_system"></a>target_system | `uint8` | | |
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| <a id="fld_target_component"></a>target_component | `uint8` | | |
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| <a id="fld_flags"></a>flags | `uint16` | | |
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| <a id="fld_q"></a>q | `float32[4]` | | |
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| <a id="fld_angular_velocity_x"></a>angular_velocity_x | `float32` | | |
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| <a id="fld_angular_velocity_y"></a>angular_velocity_y | `float32` | | |
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| <a id="fld_angular_velocity_z"></a>angular_velocity_z | `float32` | | |
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## Constants
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| Name | Type | Value | Description |
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| ----------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#GIMBAL_DEVICE_FLAGS_RETRACT"></a> GIMBAL_DEVICE_FLAGS_RETRACT | `uint32` | 1 |
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| <a id="#GIMBAL_DEVICE_FLAGS_NEUTRAL"></a> GIMBAL_DEVICE_FLAGS_NEUTRAL | `uint32` | 2 |
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| <a id="#GIMBAL_DEVICE_FLAGS_ROLL_LOCK"></a> GIMBAL_DEVICE_FLAGS_ROLL_LOCK | `uint32` | 4 |
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| <a id="#GIMBAL_DEVICE_FLAGS_PITCH_LOCK"></a> GIMBAL_DEVICE_FLAGS_PITCH_LOCK | `uint32` | 8 |
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| <a id="#GIMBAL_DEVICE_FLAGS_YAW_LOCK"></a> GIMBAL_DEVICE_FLAGS_YAW_LOCK | `uint32` | 16 |
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| <a id="#GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint32` | 32 |
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| <a id="#GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint32` | 64 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceSetAttitude.msg)
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::: details Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 target_system
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uint8 target_component
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uint16 flags
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uint32 GIMBAL_DEVICE_FLAGS_RETRACT = 1
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uint32 GIMBAL_DEVICE_FLAGS_NEUTRAL = 2
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uint32 GIMBAL_DEVICE_FLAGS_ROLL_LOCK = 4
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uint32 GIMBAL_DEVICE_FLAGS_PITCH_LOCK = 8
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uint32 GIMBAL_DEVICE_FLAGS_YAW_LOCK = 16
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uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
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uint32 GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
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float32[4] q
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float32 angular_velocity_x
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float32 angular_velocity_y
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float32 angular_velocity_z
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```
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:::
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