mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-27 00:48:23 +08:00
76 lines
5.8 KiB
Markdown
76 lines
5.8 KiB
Markdown
---
|
|
pageClass: is-wide-page
|
|
---
|
|
|
|
# GimbalDeviceAttitudeStatus (повідомлення UORB)
|
|
|
|
**TOPICS:** gimbal_device_attitude_status
|
|
|
|
## Fields
|
|
|
|
| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
|
|
| ----------------------------------------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
|
|
| <a id="fld_timestamp"></a>timestamp | `uint64` | | | time since system start (microseconds) |
|
|
| <a id="fld_target_system"></a>target_system | `uint8` | | | |
|
|
| <a id="fld_target_component"></a>target_component | `uint8` | | | |
|
|
| <a id="fld_device_flags"></a>device_flags | `uint16` | | | |
|
|
| <a id="fld_q"></a>q | `float32[4]` | | | |
|
|
| <a id="fld_angular_velocity_x"></a>angular_velocity_x | `float32` | | | |
|
|
| <a id="fld_angular_velocity_y"></a>angular_velocity_y | `float32` | | | |
|
|
| <a id="fld_angular_velocity_z"></a>angular_velocity_z | `float32` | | | |
|
|
| <a id="fld_failure_flags"></a>failure_flags | `uint32` | | | |
|
|
| <a id="fld_delta_yaw"></a>delta_yaw | `float32` | | | |
|
|
| <a id="fld_delta_yaw_velocity"></a>delta_yaw_velocity | `float32` | | | |
|
|
| <a id="fld_gimbal_device_id"></a>gimbal_device_id | `uint8` | | | |
|
|
| <a id="fld_received_from_mavlink"></a>received_from_mavlink | `bool` | | | |
|
|
|
|
## Constants
|
|
|
|
| Назва | Тип | Значення | Опис |
|
|
| ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | -------- | -------- | ---- |
|
|
| <a id="#DEVICE_FLAGS_RETRACT"></a> DEVICE_FLAGS_RETRACT | `uint16` | 1 | |
|
|
| <a id="#DEVICE_FLAGS_NEUTRAL"></a> DEVICE_FLAGS_NEUTRAL | `uint16` | 2 | |
|
|
| <a id="#DEVICE_FLAGS_ROLL_LOCK"></a> DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 | |
|
|
| <a id="#DEVICE_FLAGS_PITCH_LOCK"></a> DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 | |
|
|
| <a id="#DEVICE_FLAGS_YAW_LOCK"></a> DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 | |
|
|
| <a id="#DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 | |
|
|
| <a id="#DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 | |
|
|
|
|
## Source Message
|
|
|
|
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg)
|
|
|
|
:::details
|
|
Click here to see original file
|
|
|
|
```c
|
|
uint64 timestamp # time since system start (microseconds)
|
|
|
|
uint8 target_system
|
|
uint8 target_component
|
|
uint16 device_flags
|
|
|
|
uint16 DEVICE_FLAGS_RETRACT = 1
|
|
uint16 DEVICE_FLAGS_NEUTRAL = 2
|
|
uint16 DEVICE_FLAGS_ROLL_LOCK = 4
|
|
uint16 DEVICE_FLAGS_PITCH_LOCK = 8
|
|
uint16 DEVICE_FLAGS_YAW_LOCK = 16
|
|
uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
|
|
uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
|
|
|
|
|
|
float32[4] q
|
|
float32 angular_velocity_x
|
|
float32 angular_velocity_y
|
|
float32 angular_velocity_z
|
|
|
|
uint32 failure_flags
|
|
float32 delta_yaw
|
|
float32 delta_yaw_velocity
|
|
uint8 gimbal_device_id
|
|
|
|
bool received_from_mavlink
|
|
```
|
|
|
|
:::
|