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64 lines
4.8 KiB
Markdown
64 lines
4.8 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GimbalDeviceSetAttitude (повідомлення UORB)
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**TOPICS:** gimbal_device_set_attitude
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## Fields
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| Назва | Тип | Unit [Frame] | Range/Enum | Опис |
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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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| Назва | Тип | Значення | Опис |
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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
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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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