mavsdk::Gimbal Class Reference

#include: gimbal.h


Provide control over a gimbal.

Data Structures

struct ControlStatus

Public Types

Type Description
enum GimbalMode Gimbal mode type.
enum ControlMode Control mode.
enum Result Possible results returned for gimbal commands.
std::function< void(Result)> ResultCallback Callback type for asynchronous Gimbal calls.
std::function< void(ControlStatus)> ControlCallback Callback type for subscribe_control.

Public Member Functions

Type Name Description
  Gimbal (System & system) Constructor. Creates the plugin for a specific System.
  Gimbal (std::shared_ptr< System > system) Constructor. Creates the plugin for a specific System.
  ~Gimbal () Destructor (internal use only).
  Gimbal (const Gimbal & other) Copy constructor.
void set_pitch_and_yaw_async (float pitch_deg, float yaw_deg, const ResultCallback callback) Set gimbal pitch and yaw angles.
Result set_pitch_and_yaw (float pitch_deg, float yaw_deg)const Set gimbal pitch and yaw angles.
void set_pitch_rate_and_yaw_rate_async (float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback) Set gimbal angular rates around pitch and yaw axes.
Result set_pitch_rate_and_yaw_rate (float pitch_rate_deg_s, float yaw_rate_deg_s)const Set gimbal angular rates around pitch and yaw axes.
void set_mode_async (GimbalMode gimbal_mode, const ResultCallback callback) Set gimbal mode.
Result set_mode (GimbalMode gimbal_mode)const Set gimbal mode.
void set_roi_location_async (double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback) Set gimbal region of interest (ROI).
Result set_roi_location (double latitude_deg, double longitude_deg, float altitude_m)const Set gimbal region of interest (ROI).
void take_control_async (ControlMode control_mode, const ResultCallback callback) Take control.
Result take_control (ControlMode control_mode)const Take control.
void release_control_async (const ResultCallback callback) Release control.
Result release_control () const Release control.
void subscribe_control (ControlCallback callback) Subscribe to control status updates.
ControlStatus control () const Poll for 'ControlStatus' (blocking).
const Gimbal & operator= (const Gimbal &)=delete Equality operator (object is not copyable).

Constructor & Destructor Documentation

Gimbal()

mavsdk::Gimbal::Gimbal(System &system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto gimbal = Gimbal(system);

Parameters

  • System& system - The specific system associated with this plugin.

Gimbal()

mavsdk::Gimbal::Gimbal(std::shared_ptr< System > system)

Constructor. Creates the plugin for a specific System.

The plugin is typically created as shown below:

auto gimbal = Gimbal(system);

Parameters

  • std::shared_ptr< System > system - The specific system associated with this plugin.

~Gimbal()

mavsdk::Gimbal::~Gimbal()

Destructor (internal use only).

Gimbal()

mavsdk::Gimbal::Gimbal(const Gimbal &other)

Copy constructor.

Parameters

Member Typdef Documentation

typedef ResultCallback

using mavsdk::Gimbal::ResultCallback =  std::function<void(Result)>

Callback type for asynchronous Gimbal calls.

typedef ControlCallback

using mavsdk::Gimbal::ControlCallback =  std::function<void(ControlStatus)>

Callback type for subscribe_control.

Member Enumeration Documentation

enum GimbalMode

Gimbal mode type.

Value Description
YawFollow Yaw follow will point the gimbal to the vehicle heading.
YawLock Yaw lock will fix the gimbal poiting to an absolute direction.

enum ControlMode

Control mode.

Value Description
None Indicates that the component does not have control over the gimbal.
Primary To take primary control over the gimbal.
Secondary To take secondary control over the gimbal.

enum Result

Possible results returned for gimbal commands.

Value Description
Unknown Unknown result.
Success Command was accepted.
Error Error occurred sending the command.
Timeout Command timed out.
Unsupported Functionality not supported.

Member Function Documentation

set_pitch_and_yaw_async()

void mavsdk::Gimbal::set_pitch_and_yaw_async(float pitch_deg, float yaw_deg, const ResultCallback callback)

Set gimbal pitch and yaw angles.

This sets the desired 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.

This function is non-blocking. See 'set_pitch_and_yaw' for the blocking counterpart.

Parameters

set_pitch_and_yaw()

Result mavsdk::Gimbal::set_pitch_and_yaw(float pitch_deg, float yaw_deg) const

Set gimbal pitch and yaw angles.

This sets the desired 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.

This function is blocking. See 'set_pitch_and_yaw_async' for the non-blocking counterpart.

Parameters

  • float pitch_deg -
  • float yaw_deg -

Returns

Result - Result of request.

set_pitch_rate_and_yaw_rate_async()

void mavsdk::Gimbal::set_pitch_rate_and_yaw_rate_async(float pitch_rate_deg_s, float yaw_rate_deg_s, const ResultCallback callback)

Set gimbal angular rates around pitch and yaw axes.

This sets the desired angular rates around 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.

This function is non-blocking. See 'set_pitch_rate_and_yaw_rate' for the blocking counterpart.

Parameters

  • float pitch_rate_deg_s -
  • float yaw_rate_deg_s -
  • const ResultCallback callback -

set_pitch_rate_and_yaw_rate()

Result mavsdk::Gimbal::set_pitch_rate_and_yaw_rate(float pitch_rate_deg_s, float yaw_rate_deg_s) const

Set gimbal angular rates around pitch and yaw axes.

This sets the desired angular rates around 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.

This function is blocking. See 'set_pitch_rate_and_yaw_rate_async' for the non-blocking counterpart.

Parameters

  • float pitch_rate_deg_s -
  • float yaw_rate_deg_s -

Returns

Result - Result of request.

set_mode_async()

void mavsdk::Gimbal::set_mode_async(GimbalMode gimbal_mode, const ResultCallback callback)

Set gimbal mode.

This sets the desired yaw mode 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.

This function is non-blocking. See 'set_mode' for the blocking counterpart.

Parameters

set_mode()

Result mavsdk::Gimbal::set_mode(GimbalMode gimbal_mode) const

Set gimbal mode.

This sets the desired yaw mode 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.

This function is blocking. See 'set_mode_async' for the non-blocking counterpart.

Parameters

Returns

Result - Result of request.

set_roi_location_async()

void mavsdk::Gimbal::set_roi_location_async(double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)

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.

This function is non-blocking. See 'set_roi_location' for the blocking counterpart.

Parameters

  • double latitude_deg -
  • double longitude_deg -
  • float altitude_m -
  • const ResultCallback callback -

set_roi_location()

Result mavsdk::Gimbal::set_roi_location(double latitude_deg, double longitude_deg, float altitude_m) const

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.

This function is blocking. See 'set_roi_location_async' for the non-blocking counterpart.

Parameters

  • double latitude_deg -
  • double longitude_deg -
  • float altitude_m -

Returns

Result - Result of request.

take_control_async()

void mavsdk::Gimbal::take_control_async(ControlMode control_mode, const ResultCallback callback)

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.

This function is non-blocking. See 'take_control' for the blocking counterpart.

Parameters

take_control()

Result mavsdk::Gimbal::take_control(ControlMode control_mode) const

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.

This function is blocking. See 'take_control_async' for the non-blocking counterpart.

Parameters

Returns

Result - Result of request.

release_control_async()

void mavsdk::Gimbal::release_control_async(const ResultCallback callback)

Release control.

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

This function is non-blocking. See 'release_control' for the blocking counterpart.

Parameters

release_control()

Result mavsdk::Gimbal::release_control() const

Release control.

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

This function is blocking. See 'release_control_async' for the non-blocking counterpart.

Returns

Result - Result of request.

subscribe_control()

void mavsdk::Gimbal::subscribe_control(ControlCallback callback)

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).

Parameters

control()

ControlStatus mavsdk::Gimbal::control() const

Poll for 'ControlStatus' (blocking).

Returns

ControlStatus - One ControlStatus update.

operator=()

const Gimbal& mavsdk::Gimbal::operator=(const Gimbal &)=delete

Equality operator (object is not copyable).

Parameters

Returns

 const Gimbal & -

© Dronecode 2017-2020. License: CC BY 4.0            Updated: 2021-03-12 08:31:05

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