Common.Message.GimbalDeviceAttitudeStatus (xmavlink_util v0.4.3)

Summary

Types

t()

Message reporting the status of a gimbal device. This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

Types

t()

@type t() :: %Common.Message.GimbalDeviceAttitudeStatus{
  angular_velocity_x: Float32,
  angular_velocity_y: Float32,
  angular_velocity_z: Float32,
  delta_yaw: Float32,
  delta_yaw_velocity: Float32,
  failure_flags: MapSet.t(Common.Types.gimbal_device_error_flags()),
  flags: MapSet.t(Common.Types.gimbal_device_flags()),
  q: [Float32],
  target_component: XMAVLink.Types.uint8_t(),
  target_system: XMAVLink.Types.uint8_t(),
  time_boot_ms: XMAVLink.Types.uint32_t()
}