Add gimbal mode support. #93
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julianoes
reviewed
Jul 24, 2019
protos/gimbal/gimbal.proto
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| enum GimbalMode { | ||
| FOLLOW = 0; | ||
| LOCK = 1; |
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Please specify that this refers to YAW, so YAW_FOLLOW I'd say.
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Is that (and will it always be) strictly reserved to yaw, on the gimbal side? Couldn't it follow with pitch as well?
Actually, I'm not sure what FOLLOW and LOCK mean 😅. What does it follow?
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YAW_FOLLOW means that the gimbal follows the autopilot yaw, so it always looks forward (although with a little bit of damping so the picture is smoother).
YAW_LOCK means that the gimbal locks onto a specific heading no matter what direction the drone faces.
Pitch is basically always in LOCK mode for multicopters because you don't want it to be influenced by the vehicle pitch.
douglaswsilva
changed the title
JonasVautherin
approved these changes
Jul 24, 2019
julianoes
approved these changes
Jul 25, 2019
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Suggestion for initial idea of how set gimbal mode will look like.
For now it is working this way, but you guys might want to wait for: mavlink/mavlink#1174
Let's open a discussion here and see what to do.