mavsdk::Gimbal Class Reference

#include: gimbal.h

Provide control over a gimbal.

Data Structures

struct ControlStatus

Public Types

Public Member Functions

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 ControlCallback

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

Callback type for subscribe_control.

typedef ControlHandle

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

Handle type for subscribe_control.

Member Enumeration Documentation

enum GimbalMode

Gimbal mode type.

enum ControlMode

Control mode.

enum Result

Possible results returned for gimbal commands.

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

• float pitch_deg -
• float yaw_deg -
• const ResultCallback callback -

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

• GimbalMode gimbal_mode -
• const ResultCallback callback -

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

• GimbalMode gimbal_mode -

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

• ControlMode control_mode -
• const ResultCallback callback -

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

• ControlMode control_mode -

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

• const ResultCallback callback -

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()

ControlHandle mavsdk::Gimbal::subscribe_control(const 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

• const ControlCallback& callback -

Returns

 ControlHandle -

unsubscribe_control()

void mavsdk::Gimbal::unsubscribe_control(ControlHandle handle)

Unsubscribe from subscribe_control.

Parameters

• ControlHandle handle -

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

• const Gimbal& -

Returns

 const Gimbal & -