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Gimbal ​

The Gimbal plugin controls gimbals that implement MAVLink Gimbal Protocol v2.

TIP

This page covers real-time gimbal control from a ground station or companion computer. For gimbal actions within a mission (e.g. camera angle at a waypoint), see the Mission guide.

Create the Plugin ​

cpp
#include <mavsdk/plugins/gimbal/gimbal.h>
auto gimbal = Gimbal{system};

Discover Gimbals ​

Gimbals are identified by a gimbal id. Subscribe to the gimbal list to be notified when one connects:

cpp
gimbal.subscribe_gimbal_list([](Gimbal::GimbalList list) {
    for (auto& item : list.gimbals) {
        std::cout << "Gimbal id: " << item.gimbal_id << '\n';
    }
});

Take Control ​

Claim primary control before sending commands; release it when done:

cpp
gimbal.take_control(gimbal_id, Gimbal::ControlMode::Primary);
// ... control gimbal ...
gimbal.release_control(gimbal_id);

Set Angles ​

Point the gimbal at a fixed roll/pitch/yaw (in degrees):

cpp
gimbal.set_angles(gimbal_id, 0.0f, -30.0f, 0.0f,
                  Gimbal::GimbalMode::YawFollow,
                  Gimbal::SendMode::Once);

YawFollow keeps the gimbal yaw locked to the vehicle body; YawLock holds a fixed world heading.

Point at a Location ​

cpp
gimbal.set_roi_location(gimbal_id, latitude_deg, longitude_deg, altitude_m);

Monitor Attitude ​

cpp
gimbal.subscribe_attitude([](Gimbal::Attitude attitude) {
    std::cout << "Pitch: " << attitude.euler_angle_forward.pitch_deg << '\n';
});

Further Information ​