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Full gimbal angle control #328

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merged 3 commits into from
Jan 23, 2024
Merged

Full gimbal angle control #328

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065f63f
Added gimbal function SetAngles
Jan 10, 2024
6bc2cac
Fixed typo
Jan 12, 2024
2fd3f21
Changed order of angles to MAVLink order
Jan 22, 2024
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18 changes: 18 additions & 0 deletions protos/gimbal/gimbal.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,15 @@ option java_outer_classname = "GimbalProto";

// Provide control over a gimbal.
service GimbalService {
/*
*
* Set gimbal pitch, yaw and roll angles.
*
* This sets the desired pitch, yaw and roll 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.
*/
rpc SetAngles(SetAnglesRequest) returns(SetAnglesResponse) {}
/*
*
* Set gimbal pitch and yaw angles.
Expand Down Expand Up @@ -71,6 +80,15 @@ service GimbalService {
rpc SubscribeControl(SubscribeControlRequest) returns(stream ControlResponse) {}
}

message SetAnglesRequest {
float pitch_deg = 1; // Pitch angle in degrees (negative points down)
float yaw_deg = 2; // Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)
float roll_deg = 3; // Roll angle in degrees
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Can we please change the order of the fields to match the usual MAVLink order: roll, pitch, yaw.

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Sure. Shall I do it, or do you do it? As I said, this is my first time. Happy to help where I can.

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I suggest you change it. Thanks!

}
message SetAnglesResponse {
GimbalResult gimbal_result = 1;
}

message SetPitchAndYawRequest {
float pitch_deg = 1; // Pitch angle in degrees (negative points down)
float yaw_deg = 2; // Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)
Expand Down