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feat: gimbal control message #63

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Merged
ajanani85 merged 2 commits into from
Jan 6, 2022
Merged

feat: gimbal control message #63

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0c0921d
feat: gimbal control message
ajanani85 Jan 5, 2022
354cabc
feat: fixed the compile error
ajanani85 Jan 5, 2022
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15 changes: 14 additions & 1 deletion brain_box_msgs/msg/Gimbal.msg
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Original file line number Diff line number Diff line change
@@ -1,6 +1,19 @@
#how long should it take to get to the target
Header header

# ts is the time it takes to achieve the desired angle,
# so the shorter the time, the faster the gimbal rotates.
int32 ts

# Mode is 1 byte size:
# Bit #: | Set to 0: | Set to 1:
# ----------- | ------------------------------------- | -------------------------------------
# bit 0 | Incremental control, | Absolute control,
# | the angle reference is the | the angle reference is
# | current Gimbal location | related to configuration in DJI Go App
# bit 1 | Gimbal will follow the command in Yaw | Gimbal will maintain position in Yaw
# bit 2 | Roll invalid bit, the same as bit[1] | Roll invalid bit, the same as bit[1]
# bit 3 |Pitch invalid bit, the same as bit[1] | Pitch invalid bit, the same as bit[1]
# bit [4:7] | bit [4:7]: reserved, set to be 0 |
int32 mode

string cmd
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