package mavsdk.rpc.gimbal

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Provide control over a gimbal within the MAVLink Gimbal Protocol: https://mavlink.io/en/services/gimbal_v2.html

• rpc GetAttitude (GetAttitudeRequest, GetAttitudeResponse)

  gimbal.proto:101

  Get attitude for specific gimbal.

  message GetAttitudeRequest

  gimbal.proto:221

  • int32 gimbal_id = 1

    Gimbal ID

  message GetAttitudeResponse

  gimbal.proto:224

  • optional GimbalResult gimbal_result = 1

  • optional Attitude attitude = 2

    The attitude

• rpc GetControlStatus (GetControlStatusRequest, GetControlStatusResponse)

  gimbal.proto:89

  Get control status for specific gimbal.

  message GetControlStatusRequest

  gimbal.proto:158

  • int32 gimbal_id = 1

    Gimbal ID

  message GetControlStatusResponse

  gimbal.proto:161

  • optional GimbalResult gimbal_result = 1

  • optional ControlStatus control_status = 2

    Control status

• rpc ReleaseControl (ReleaseControlRequest, ReleaseControlResponse)

  gimbal.proto:67

  Release control. Release control, such that other components can control the gimbal.

  message ReleaseControlRequest

  gimbal.proto:146

  • int32 gimbal_id = 1

    Gimbal id to address (0 for all gimbals)

  message ReleaseControlResponse

  gimbal.proto:149

  • optional GimbalResult gimbal_result = 1

• rpc SetAngles (SetAnglesRequest, SetAnglesResponse)

  gimbal.proto:25

  Set gimbal roll, pitch and yaw angles. This sets the desired roll, pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles. Note that the roll angle needs to be set to 0 when send_mode is Once.

  message SetAnglesRequest

  gimbal.proto:104

  • int32 gimbal_id = 1

    Gimbal id to address (0 for all gimbals)

  • float roll_deg = 2

    Roll angle in degrees (negative down on the right)

  • float pitch_deg = 3

    Pitch angle in degrees (negative points down)

  • float yaw_deg = 4

    Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)

  • GimbalMode gimbal_mode = 5

    Gimbal mode to use

  • SendMode send_mode = 6

    Send mode of command/setpoint

  message SetAnglesResponse

  gimbal.proto:112

  • optional GimbalResult gimbal_result = 1

• rpc SetAngularRates (SetAngularRatesRequest, SetAngularRatesResponse)

  gimbal.proto:36

  Set gimbal angular rates. This sets the desired angular rates around roll, pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate. Note that the roll angle needs to be set to 0 when send_mode is Once.

  message SetAngularRatesRequest

  gimbal.proto:116

  • int32 gimbal_id = 1

    Gimbal id to address (0 for all gimbals)

  • float roll_rate_deg_s = 2

    Angular rate around roll axis in degrees/second (negative down on the right)

  • float pitch_rate_deg_s = 3

    Angular rate around pitch axis in degrees/second (negative downward)

  • float yaw_rate_deg_s = 4

    Angular rate around yaw axis in degrees/second (positive is clock-wise)

  • GimbalMode gimbal_mode = 5

    Gimbal mode to use

  • SendMode send_mode = 6

    Send mode of command/setpoint

  message SetAngularRatesResponse

  gimbal.proto:124

  • optional GimbalResult gimbal_result = 1

• rpc SetRoiLocation (SetRoiLocationRequest, SetRoiLocationResponse)

  gimbal.proto:47

  Set gimbal region of interest (ROI). This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.

  message SetRoiLocationRequest

  gimbal.proto:128

  • int32 gimbal_id = 1

    Gimbal id to address (0 for all gimbals)

  • double latitude_deg = 2

    Latitude in degrees

  • double longitude_deg = 3

    Longitude in degrees

  • float altitude_m = 4

    Altitude in metres (AMSL)

  message SetRoiLocationResponse

  gimbal.proto:134

  • optional GimbalResult gimbal_result = 1

• rpc SubscribeAttitude (SubscribeAttitudeRequest, stream AttitudeResponse)

  gimbal.proto:96

  Subscribe to attitude updates. This gets you the gimbal's attitude and angular rate.

  message SubscribeAttitudeRequest

  gimbal.proto:216

  (message has no fields)

  message AttitudeResponse

  gimbal.proto:217

  • optional Attitude attitude = 1

    The attitude

• rpc SubscribeControlStatus (SubscribeControlStatusRequest, stream ControlStatusResponse)

  gimbal.proto:84

  Subscribe to control status updates. This allows a component to know if it has primary, secondary or no control over the gimbal. Also, it gives the system and component ids of the other components in control (if any).

  message SubscribeControlStatusRequest

  gimbal.proto:153

  (message has no fields)

  message ControlStatusResponse

  gimbal.proto:154

  • optional ControlStatus control_status = 1

    Control status

• rpc SubscribeGimbalList (SubscribeGimbalListRequest, stream GimbalListResponse)

  gimbal.proto:75

  Subscribe to list of gimbals. This allows to find out what gimbals are connected to the system. Based on the gimbal ID, we can then address a specific gimbal.

  message SubscribeGimbalListRequest

  gimbal.proto:229

  (message has no fields)

  message GimbalListResponse

  gimbal.proto:230

  • optional GimbalList gimbal_list = 1

    Gimbal list

• rpc TakeControl (TakeControlRequest, TakeControlResponse)

  gimbal.proto:60

  Take control. There can be only two components in control of a gimbal at any given time. One with "primary" control, and one with "secondary" control. The way the secondary control is implemented is not specified and hence depends on the vehicle. Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.

  message TakeControlRequest

  gimbal.proto:138

  • int32 gimbal_id = 1

    Gimbal id to address (0 for all gimbals)

  • ControlMode control_mode = 2

    Control mode (primary or secondary)

  message TakeControlResponse

  gimbal.proto:142

  • optional GimbalResult gimbal_result = 1

Gimbal angular rate type

Used in: Attitude

• float roll_rad_s = 1

  Roll angular velocity

• float pitch_rad_s = 2

  Pitch angular velocity

• float yaw_rad_s = 3

  Yaw angular velocity

Gimbal attitude type

Used in: AttitudeResponse, GetAttitudeResponse

• int32 gimbal_id = 1

  Gimbal ID

• optional EulerAngle euler_angle_forward = 2

  Euler angle relative to forward

• optional Quaternion quaternion_forward = 3

  Quaternion relative to forward

• optional EulerAngle euler_angle_north = 4

  Euler angle relative to North

• optional Quaternion quaternion_north = 5

  Quaternion relative to North

• optional AngularVelocityBody angular_velocity = 6

  The angular rate

• uint64 timestamp_us = 7

  Timestamp in microseconds

Control mode

Used in: ControlStatus, TakeControlRequest

• CONTROL_MODE_NONE = 0

  Indicates that the component does not have control over the gimbal

• CONTROL_MODE_PRIMARY = 1

  To take primary control over the gimbal

• CONTROL_MODE_SECONDARY = 2

  To take secondary control over the gimbal

Control status

Used in: ControlStatusResponse, GetControlStatusResponse

• int32 gimbal_id = 1

  Gimbal ID

• ControlMode control_mode = 2

  Control mode (none, primary or secondary)

• int32 sysid_primary_control = 3

  Sysid of the component that has primary control over the gimbal (0 if no one is in control)

• int32 compid_primary_control = 4

  Compid of the component that has primary control over the gimbal (0 if no one is in control)

• int32 sysid_secondary_control = 5

  Sysid of the component that has secondary control over the gimbal (0 if no one is in control)

• int32 compid_secondary_control = 6

  Compid of the component that has secondary control over the gimbal (0 if no one is in control)

Euler angle type. All rotations and axis systems follow the right-hand rule. The Euler angles are converted using the 3-1-2 sequence instead of standard 3-2-1 in order to avoid the gimbal lock at 90 degrees down. For more info see https://en.wikipedia.org/wiki/Euler_angles

Used in: Attitude

• float roll_deg = 1

  Roll angle in degrees, positive is banking to the right

• float pitch_deg = 2

  Pitch angle in degrees, positive is pitching nose up

• float yaw_deg = 3

  Yaw angle in degrees, positive is clock-wise seen from above

Gimbal list item

Used in: GimbalList

• int32 gimbal_id = 1

  ID to address it, starting at 1 (0 means all gimbals)

• string vendor_name = 2

  Vendor name

• string model_name = 3

  Model name

• string custom_name = 4

  Custom name name

• int32 gimbal_manager_component_id = 5

  MAVLink component of gimbal manager, for debugging purposes

• int32 gimbal_device_id = 6

  MAVLink component of gimbal device

Gimbal list

Used in: GimbalListResponse

• repeated GimbalItem gimbals = 1

  Gimbal items.

Gimbal mode type.

Used in: SetAnglesRequest, SetAngularRatesRequest

• GIMBAL_MODE_YAW_FOLLOW = 0

  Yaw follow will point the gimbal to the vehicle heading

• GIMBAL_MODE_YAW_LOCK = 1

  Yaw lock will fix the gimbal pointing to an absolute direction

Result type.

Used in: GetAttitudeResponse, GetControlStatusResponse, ReleaseControlResponse, SetAnglesResponse, SetAngularRatesResponse, SetRoiLocationResponse, TakeControlResponse

• GimbalResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for gimbal commands.

Used in: GimbalResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Command was accepted

• RESULT_ERROR = 2

  Error occurred sending the command

• RESULT_TIMEOUT = 3

  Command timed out

• RESULT_UNSUPPORTED = 4

  Functionality not supported

• RESULT_NO_SYSTEM = 5

  No system connected

• RESULT_INVALID_ARGUMENT = 6

  Invalid argument

Quaternion type. All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk. For more info see: https://en.wikipedia.org/wiki/Quaternion

Used in: Attitude

• float w = 1

  Quaternion entry 0, also denoted as a

• float x = 2

  Quaternion entry 1, also denoted as b

• float y = 3

  Quaternion entry 2, also denoted as c

• float z = 4

  Quaternion entry 3, also denoted as d

The send mode type

Used in: SetAnglesRequest, SetAngularRatesRequest

• SEND_MODE_ONCE = 0

  Send command exactly once with quality of service (use for sporadic commands slower than 1 Hz)

• SEND_MODE_STREAM = 1

  Stream setpoint without quality of service (use for setpoints faster than 1 Hz).