mavsdk::Gimbal Class Reference

#include: gimbal.h

---

Provide control over a gimbal.

Data Structures

struct AngularVelocityBody

struct Attitude

struct ControlStatus

struct EulerAngle

struct GimbalItem

struct GimbalList

struct Quaternion

Public Types

Type	Description
enum GimbalMode	Gimbal mode type.
enum ControlMode	Control mode.
enum SendMode	The send mode type.
enum Result	Possible results returned for gimbal commands.
std::function< void(Result)> ResultCallback	Callback type for asynchronous Gimbal calls.
std::function< void(GimbalList)> GimbalListCallback	Callback type for subscribe_gimbal_list.
Handle< GimbalList > GimbalListHandle	Handle type for subscribe_gimbal_list.
std::function< void(ControlStatus)> ControlStatusCallback	Callback type for subscribe_control_status.
Handle< ControlStatus > ControlStatusHandle	Handle type for subscribe_control_status.
std::function< void(Attitude)> AttitudeCallback	Callback type for subscribe_attitude.
Handle< Attitude > AttitudeHandle	Handle type for subscribe_attitude.

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 () override	Destructor (internal use only).
	Gimbal (const Gimbal & other)	Copy constructor.
void	set_angles_async (int32_t gimbal_id, float roll_deg, float pitch_deg, float yaw_deg, GimbalMode gimbal_mode, SendMode send_mode, const ResultCallback callback)	Set gimbal roll, pitch and yaw angles.
Result	set_angles (int32_t gimbal_id, float roll_deg, float pitch_deg, float yaw_deg, GimbalMode gimbal_mode, SendMode send_mode)const	Set gimbal roll, pitch and yaw angles.
void	set_angular_rates_async (int32_t gimbal_id, float roll_rate_deg_s, float pitch_rate_deg_s, float yaw_rate_deg_s, GimbalMode gimbal_mode, SendMode send_mode, const ResultCallback callback)	Set gimbal angular rates.
Result	set_angular_rates (int32_t gimbal_id, float roll_rate_deg_s, float pitch_rate_deg_s, float yaw_rate_deg_s, GimbalMode gimbal_mode, SendMode send_mode)const	Set gimbal angular rates.
void	set_roi_location_async (int32_t gimbal_id, double latitude_deg, double longitude_deg, float altitude_m, const ResultCallback callback)	Set gimbal region of interest (ROI).
Result	set_roi_location (int32_t gimbal_id, double latitude_deg, double longitude_deg, float altitude_m)const	Set gimbal region of interest (ROI).
void	take_control_async (int32_t gimbal_id, ControlMode control_mode, const ResultCallback callback)	Take control.
Result	take_control (int32_t gimbal_id, ControlMode control_mode)const	Take control.
void	release_control_async (int32_t gimbal_id, const ResultCallback callback)	Release control.
Result	release_control (int32_t gimbal_id)const	Release control.
GimbalListHandle	subscribe_gimbal_list (const GimbalListCallback & callback)	Subscribe to list of gimbals.
void	unsubscribe_gimbal_list (GimbalListHandle handle)	Unsubscribe from subscribe_gimbal_list.
GimbalList	gimbal_list () const	Poll for 'GimbalList' (blocking).
ControlStatusHandle	subscribe_control_status (const ControlStatusCallback & callback)	Subscribe to control status updates.
void	unsubscribe_control_status (ControlStatusHandle handle)	Unsubscribe from subscribe_control_status.
std::pair< Result, Gimbal::ControlStatus >	get_control_status (int32_t gimbal_id)const	Get control status for specific gimbal.
AttitudeHandle	subscribe_attitude (const AttitudeCallback & callback)	Subscribe to attitude updates.
void	unsubscribe_attitude (AttitudeHandle handle)	Unsubscribe from subscribe_attitude.
std::pair< Result, Gimbal::Attitude >	get_attitude (int32_t gimbal_id)const	Get attitude for specific gimbal.
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() override

Destructor (internal use only).

Gimbal()

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

Copy constructor.

Parameters

• const Gimbal& other -

Member Typdef Documentation

typedef ResultCallback

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

Callback type for asynchronous Gimbal calls.

typedef GimbalListCallback

using mavsdk::Gimbal::GimbalListCallback =  std::function<void(GimbalList)>

Callback type for subscribe_gimbal_list.

typedef GimbalListHandle

using mavsdk::Gimbal::GimbalListHandle =  Handle<GimbalList>

Handle type for subscribe_gimbal_list.

typedef ControlStatusCallback

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

Callback type for subscribe_control_status.

typedef ControlStatusHandle

using mavsdk::Gimbal::ControlStatusHandle =  Handle<ControlStatus>

Handle type for subscribe_control_status.

typedef AttitudeCallback

using mavsdk::Gimbal::AttitudeCallback =  std::function<void(Attitude)>

Callback type for subscribe_attitude.

typedef AttitudeHandle

using mavsdk::Gimbal::AttitudeHandle =  Handle<Attitude>

Handle type for subscribe_attitude.

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 pointing 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 SendMode

The send mode type.

Value	Description
Once	Send command exactly once with quality of service (use for sporadic commands slower than 1 Hz).
Stream	Stream setpoint without quality of service (use for setpoints faster than 1 Hz)..

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.
NoSystem	No system connected.
InvalidArgument	Invalid argument.

Member Function Documentation

set_angles_async()

void mavsdk::Gimbal::set_angles_async(int32_t gimbal_id, float roll_deg, float pitch_deg, float yaw_deg, GimbalMode gimbal_mode, SendMode send_mode, const ResultCallback callback)

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.

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

Parameters

• int32_t gimbal_id -
• float roll_deg -
• float pitch_deg -
• float yaw_deg -
• GimbalMode gimbal_mode -
• SendMode send_mode -
• const ResultCallback callback -

set_angles()

Result mavsdk::Gimbal::set_angles(int32_t gimbal_id, float roll_deg, float pitch_deg, float yaw_deg, GimbalMode gimbal_mode, SendMode send_mode) const

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.

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

Parameters

• int32_t gimbal_id -
• float roll_deg -
• float pitch_deg -
• float yaw_deg -
• GimbalMode gimbal_mode -
• SendMode send_mode -

Returns

 Result - Result of request.

set_angular_rates_async()

void mavsdk::Gimbal::set_angular_rates_async(int32_t gimbal_id, float roll_rate_deg_s, float pitch_rate_deg_s, float yaw_rate_deg_s, GimbalMode gimbal_mode, SendMode send_mode, const ResultCallback callback)

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.

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

Parameters

• int32_t gimbal_id -
• float roll_rate_deg_s -
• float pitch_rate_deg_s -
• float yaw_rate_deg_s -
• GimbalMode gimbal_mode -
• SendMode send_mode -
• const ResultCallback callback -

set_angular_rates()

Result mavsdk::Gimbal::set_angular_rates(int32_t gimbal_id, float roll_rate_deg_s, float pitch_rate_deg_s, float yaw_rate_deg_s, GimbalMode gimbal_mode, SendMode send_mode) const

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.

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

Parameters

• int32_t gimbal_id -
• float roll_rate_deg_s -
• float pitch_rate_deg_s -
• float yaw_rate_deg_s -
• GimbalMode gimbal_mode -
• SendMode send_mode -

Returns

 Result - Result of request.

set_roi_location_async()

void mavsdk::Gimbal::set_roi_location_async(int32_t gimbal_id, 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

• int32_t gimbal_id -
• double latitude_deg -
• double longitude_deg -
• float altitude_m -
• const ResultCallback callback -

set_roi_location()

Result mavsdk::Gimbal::set_roi_location(int32_t gimbal_id, 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

• int32_t gimbal_id -
• double latitude_deg -
• double longitude_deg -
• float altitude_m -

Returns

 Result - Result of request.

take_control_async()

void mavsdk::Gimbal::take_control_async(int32_t gimbal_id, 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

• int32_t gimbal_id -
• ControlMode control_mode -
• const ResultCallback callback -

take_control()

Result mavsdk::Gimbal::take_control(int32_t gimbal_id, 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

• int32_t gimbal_id -
• ControlMode control_mode -

Returns

 Result - Result of request.

release_control_async()

void mavsdk::Gimbal::release_control_async(int32_t gimbal_id, 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

• int32_t gimbal_id -
• const ResultCallback callback -

release_control()

Result mavsdk::Gimbal::release_control(int32_t gimbal_id) 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.

Parameters

• int32_t gimbal_id -

Returns

 Result - Result of request.

subscribe_gimbal_list()

GimbalListHandle mavsdk::Gimbal::subscribe_gimbal_list(const GimbalListCallback &callback)

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.

Parameters

• const GimbalListCallback& callback -

Returns

 GimbalListHandle -

unsubscribe_gimbal_list()

void mavsdk::Gimbal::unsubscribe_gimbal_list(GimbalListHandle handle)

Unsubscribe from subscribe_gimbal_list.

Parameters

• GimbalListHandle handle -

gimbal_list()

GimbalList mavsdk::Gimbal::gimbal_list() const

Poll for 'GimbalList' (blocking).

Returns

 GimbalList - One GimbalList update.

subscribe_control_status()

ControlStatusHandle mavsdk::Gimbal::subscribe_control_status(const ControlStatusCallback &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

• const ControlStatusCallback& callback -

Returns

 ControlStatusHandle -

unsubscribe_control_status()

void mavsdk::Gimbal::unsubscribe_control_status(ControlStatusHandle handle)

Unsubscribe from subscribe_control_status.

Parameters

• ControlStatusHandle handle -

get_control_status()

std::pair< Result, Gimbal::ControlStatus > mavsdk::Gimbal::get_control_status(int32_t gimbal_id) const

Get control status for specific gimbal.

This function is blocking.

Parameters

• int32_t gimbal_id -

Returns

 std::pair< Result, Gimbal::ControlStatus > - Result of request.

subscribe_attitude()

AttitudeHandle mavsdk::Gimbal::subscribe_attitude(const AttitudeCallback &callback)

Subscribe to attitude updates.

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

Parameters

• const AttitudeCallback& callback -

Returns

 AttitudeHandle -

unsubscribe_attitude()

void mavsdk::Gimbal::unsubscribe_attitude(AttitudeHandle handle)

Unsubscribe from subscribe_attitude.

Parameters

• AttitudeHandle handle -

get_attitude()

std::pair< Result, Gimbal::Attitude > mavsdk::Gimbal::get_attitude(int32_t gimbal_id) const

Get attitude for specific gimbal.

This function is blocking.

Parameters

• int32_t gimbal_id -

Returns

 std::pair< Result, Gimbal::Attitude > - Result of request.

operator=()

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

Equality operator (object is not copyable).

Parameters

• const Gimbal& -

Returns

 const Gimbal & -