SITL: gimbal rotate resets copter's yaw to 0

[hhackbarth]

Bug report

Issue details
When a MAVLink command is issued to rotate the gimbal, the copter's yaw is reset to 0 degree.

I am using Dronekit 2.9.2 which sends MAVLink commands through pymavlink. The rotate(pitch, roll, yaw) function for the gimbal contains the following code sequence:

        msg = self._vehicle.message_factory.mount_configure_encode(
            0, 1,    # target system, target component
            mavutil.mavlink.MAV_MOUNT_MODE_MAVLINK_TARGETING,  #mount_mode
            1,  # stabilize roll
            1,  # stabilize pitch
            1,  # stabilize yaw
        )
        self._vehicle.send_mavlink(msg)
        msg = self._vehicle.message_factory.mount_control_encode(
            0, 1,    # target system, target component
            pitch * 100,  # pitch is in centidegrees
            roll * 100,  # roll
            yaw * 100,  # yaw is in centidegrees
            0  # save position
        )
        self._vehicle.send_mavlink(msg)

I am not sure, if this also happens in the real world but at least I see this behaviour in SITL. I tested with MNT_TYPE == 4

Version
ArduCopter 4.1.0-dev, Dronekit 2.9.2

Platform
[ ] All
[ ] AntennaTracker
[x] Copter
[ ] Plane
[ ] Rover
[ ] Submarine

Airframe type
Quad

Hardware type
SITL in Mission Planner

Logs

[muramura]

STORM32 does not seem to have PAN control.

[rrr6399]

STORM32 does not seem to have PAN control.

It just has a hard-coded value of false for has_pan() control. If you hard code it to true, the gimbal works as expected and the copter does not yaw.

[amilcarlucas]

Is this a bug? Can it be fixed with a PR?

[IamPete1]

This seems to be expected behavior for the 2 axis gimbal in SITL.

[rmackay9]

I've reproduced this issue and I have a fix in PR #21639

[rmackay9]

fixed in master and the fix will be included in Copter-4.3