mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
66 lines
3.1 KiB
Markdown
66 lines
3.1 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# GimbalManagerSetManualControl (UORB message)
|
|
|
|
**TOPICS:** gimbal_manager_set_manual_control
|
|
|
|
## Fields
|
|
|
|
| Name | Type | Unit [Frame] | Range/Enum | Description |
|
|
| ------------------------------------------------- | --------- | ------------ | ---------- | -------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_origin_sysid"></a>origin_sysid | `uint8` | | |
|
|
| <a id="fld_origin_compid"></a>origin_compid | `uint8` | | |
|
|
| <a id="fld_target_system"></a>target_system | `uint8` | | |
|
|
| <a id="fld_target_component"></a>target_component | `uint8` | | |
|
|
| <a id="fld_flags"></a>flags | `uint32` | | |
|
|
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | |
|
|
| <a id="fld_pitch"></a>pitch | `float32` | | | unitless -1..1, can be NAN |
|
|
| <a id="fld_yaw"></a>yaw | `float32` | | | unitless -1..1, can be NAN |
|
|
| <a id="fld_pitch_rate"></a>pitch_rate | `float32` | | | unitless -1..1, can be NAN |
|
|
| <a id="fld_yaw_rate"></a>yaw_rate | `float32` | | | unitless -1..1, can be NAN |
|
|
|
|
## Constants
|
|
|
|
| Name | Type | Value | Description |
|
|
| ----------------------------------------------------------------------------- | -------- | ----- | ----------- |
|
|
| <a id="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 |
|
|
| <a id="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 |
|
|
| <a id="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 |
|
|
| <a id="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 |
|
|
| <a id="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetManualControl.msg)
|
|
|
|
::: details Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint8 origin_sysid
|
|
uint8 origin_compid
|
|
|
|
uint8 target_system
|
|
uint8 target_component
|
|
|
|
uint32 GIMBAL_MANAGER_FLAGS_RETRACT = 1
|
|
uint32 GIMBAL_MANAGER_FLAGS_NEUTRAL = 2
|
|
uint32 GIMBAL_MANAGER_FLAGS_ROLL_LOCK = 4
|
|
uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
|
|
uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
|
|
|
|
uint32 flags
|
|
uint8 gimbal_device_id
|
|
|
|
float32 pitch # unitless -1..1, can be NAN
|
|
float32 yaw # unitless -1..1, can be NAN
|
|
float32 pitch_rate # unitless -1..1, can be NAN
|
|
float32 yaw_rate # unitless -1..1, can be NAN
|
|
```
|
|
|
|
:::
|