Gimbal

class mavsdk.gimbal.AngularVelocityBody(roll_rad_s, pitch_rad_s, yaw_rad_s)

Bases: object

Gimbal angular rate type

Parameters:

  • roll_rad_s (float) – Roll angular velocity

  • pitch_rad_s (float) – Pitch angular velocity

  • yaw_rad_s (float) – Yaw angular velocity

class mavsdk.gimbal.Attitude(gimbal_id, euler_angle_forward, quaternion_forward, euler_angle_north, quaternion_north, angular_velocity, timestamp_us)

Bases: object

Gimbal attitude type

Parameters:

  • gimbal_id (int32_t) – Gimbal ID

  • euler_angle_forward (EulerAngle) – Euler angle relative to forward

  • quaternion_forward (Quaternion) – Quaternion relative to forward

  • euler_angle_north (EulerAngle) – Euler angle relative to North

  • quaternion_north (Quaternion) – Quaternion relative to North

  • angular_velocity (AngularVelocityBody) – The angular rate

  • timestamp_us (uint64_t) – Timestamp in microseconds

class mavsdk.gimbal.ControlMode(value)

Bases: Enum

Control mode

Values

NONE

Indicates that the component does not have control over the gimbal

PRIMARY

To take primary control over the gimbal

SECONDARY

To take secondary control over the gimbal

NONE = 0
PRIMARY = 1
SECONDARY = 2
class mavsdk.gimbal.ControlStatus(gimbal_id, control_mode, sysid_primary_control, compid_primary_control, sysid_secondary_control, compid_secondary_control)

Bases: object

Control status

Parameters:

  • gimbal_id (int32_t) – Gimbal ID

  • control_mode (ControlMode) – Control mode (none, primary or secondary)

  • sysid_primary_control (int32_t) – Sysid of the component that has primary control over the gimbal (0 if no one is in control)

  • compid_primary_control (int32_t) – Compid of the component that has primary control over the gimbal (0 if no one is in control)

  • sysid_secondary_control (int32_t) – Sysid of the component that has secondary control over the gimbal (0 if no one is in control)

  • compid_secondary_control (int32_t) – Compid of the component that has secondary control over the gimbal (0 if no one is in control)

class mavsdk.gimbal.EulerAngle(roll_deg, pitch_deg, yaw_deg)

Bases: object

Euler angle type.

All rotations and axis systems follow the right-hand rule. The Euler angles are converted using the 3-1-2 sequence instead of standard 3-2-1 in order to avoid the gimbal lock at 90 degrees down.

For more info see https://en.wikipedia.org/wiki/Euler_angles

Parameters:

  • roll_deg (float) – Roll angle in degrees, positive is banking to the right

  • pitch_deg (float) – Pitch angle in degrees, positive is pitching nose up

  • yaw_deg (float) – Yaw angle in degrees, positive is clock-wise seen from above

class mavsdk.gimbal.Gimbal(async_plugin_manager)

Bases: AsyncBase

Provide control over a gimbal.

Generated by dcsdkgen - MAVSDK Gimbal API

async attitude()

Subscribe to attitude updates.

This gets you the gimbal’s attitude and angular rate.

Yields:

attitude (Attitude) – The attitude

async control_status()

Subscribe to control status updates.

This allows a component to know if it has primary, secondary or no control over the gimbal. Also, it gives the system and component ids of the other components in control (if any).

Yields:

control_status (ControlStatus) – Control status

async get_attitude(gimbal_id)

Get attitude for specific gimbal.

Parameters:

gimbal_id (int32_t) – Gimbal ID

Returns:

attitude – The attitude

Return type:

Attitude

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

async get_control_status(gimbal_id)

Get control status for specific gimbal.

Parameters:

gimbal_id (int32_t) – Gimbal ID

Returns:

control_status – Control status

Return type:

ControlStatus

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

async gimbal_list()

Subscribe to list of gimbals.

This allows to find out what gimbals are connected to the system. Based on the gimbal ID, we can then address a specific gimbal.

Yields:

gimbal_list (GimbalList) – Gimbal list

name = 'Gimbal'
async release_control(gimbal_id)

Release control.

Release control, such that other components can control the gimbal.

Parameters:

gimbal_id (int32_t) – Gimbal id to address (0 for all gimbals)

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

async set_angles(gimbal_id, roll_deg, pitch_deg, yaw_deg, gimbal_mode, send_mode)

Set gimbal roll, pitch and yaw angles.

This sets the desired roll, pitch and yaw 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.

Note that the roll angle needs to be set to 0 when send_mode is Once.

Parameters:

  • gimbal_id (int32_t) – Gimbal id to address (0 for all gimbals)

  • roll_deg (float) – Roll angle in degrees (negative down on the right)

  • pitch_deg (float) – Pitch angle in degrees (negative points down)

  • yaw_deg (float) – Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)

  • gimbal_mode (GimbalMode) – Gimbal mode to use

  • send_mode (SendMode) – Send mode of command/setpoint

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

async set_angular_rates(gimbal_id, roll_rate_deg_s, pitch_rate_deg_s, yaw_rate_deg_s, gimbal_mode, send_mode)

Set gimbal angular rates.

This sets the desired angular rates around roll, pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.

Note that the roll angle needs to be set to 0 when send_mode is Once.

Parameters:

  • gimbal_id (int32_t) – Gimbal id to address (0 for all gimbals)

  • roll_rate_deg_s (float) – Angular rate around roll axis in degrees/second (negative down on the right)

  • pitch_rate_deg_s (float) – Angular rate around pitch axis in degrees/second (negative downward)

  • yaw_rate_deg_s (float) – Angular rate around yaw axis in degrees/second (positive is clock-wise)

  • gimbal_mode (GimbalMode) – Gimbal mode to use

  • send_mode (SendMode) – Send mode of command/setpoint

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

async set_roi_location(gimbal_id, latitude_deg, longitude_deg, altitude_m)

Set gimbal region of interest (ROI).

This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.

Parameters:

  • gimbal_id (int32_t) – Gimbal id to address (0 for all gimbals)

  • latitude_deg (double) – Latitude in degrees

  • longitude_deg (double) – Longitude in degrees

  • altitude_m (float) – Altitude in metres (AMSL)

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

async take_control(gimbal_id, control_mode)

Take control.

There can be only two components in control of a gimbal at any given time. One with “primary” control, and one with “secondary” control. The way the secondary control is implemented is not specified and hence depends on the vehicle.

Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.

Parameters:

  • gimbal_id (int32_t) – Gimbal id to address (0 for all gimbals)

  • control_mode (ControlMode) – Control mode (primary or secondary)

Raises:

GimbalError – If the request fails. The error contains the reason for the failure.

exception mavsdk.gimbal.GimbalError(result, origin, *params)

Bases: Exception

Raised when a GimbalResult is a fail code

class mavsdk.gimbal.GimbalItem(gimbal_id, vendor_name, model_name, custom_name, gimbal_manager_component_id, gimbal_device_id)

Bases: object

Gimbal list item

Parameters:

  • gimbal_id (int32_t) – ID to address it, starting at 1 (0 means all gimbals)

  • vendor_name (std::string) – Vendor name

  • model_name (std::string) – Model name

  • custom_name (std::string) – Custom name name

  • gimbal_manager_component_id (int32_t) – MAVLink component of gimbal manager, for debugging purposes

  • gimbal_device_id (int32_t) – MAVLink component of gimbal device

class mavsdk.gimbal.GimbalList(gimbals)

Bases: object

Gimbal list

Parameters:

gimbals ([GimbalItem]) – Gimbal items.

class mavsdk.gimbal.GimbalMode(value)

Bases: Enum

Gimbal mode type.

Values

YAW_FOLLOW

Yaw follow will point the gimbal to the vehicle heading

YAW_LOCK

Yaw lock will fix the gimbal pointing to an absolute direction

YAW_FOLLOW = 0
YAW_LOCK = 1
class mavsdk.gimbal.GimbalResult(result, result_str)

Bases: object

Result type.

Parameters:

  • result (Result) – Result enum value

  • result_str (std::string) – Human-readable English string describing the result

class Result(value)

Bases: Enum

Possible results returned for gimbal commands.

Values

UNKNOWN

Unknown result

SUCCESS

Command was accepted

ERROR

Error occurred sending the command

TIMEOUT

Command timed out

UNSUPPORTED

Functionality not supported

NO_SYSTEM

No system connected

INVALID_ARGUMENT

Invalid argument

ERROR = 2
INVALID_ARGUMENT = 6
NO_SYSTEM = 5
SUCCESS = 1
TIMEOUT = 3
UNKNOWN = 0
UNSUPPORTED = 4
class mavsdk.gimbal.Quaternion(w, x, y, z)

Bases: object

Quaternion type.

All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk.

For more info see: https://en.wikipedia.org/wiki/Quaternion

Parameters:

  • w (float) – Quaternion entry 0, also denoted as a

  • x (float) – Quaternion entry 1, also denoted as b

  • y (float) – Quaternion entry 2, also denoted as c

  • z (float) – Quaternion entry 3, also denoted as d

class mavsdk.gimbal.SendMode(value)

Bases: Enum

The send mode type

Values

ONCE

Send command exactly once with quality of service (use for sporadic commands slower than 1 Hz)

STREAM

Stream setpoint without quality of service (use for setpoints faster than 1 Hz).

ONCE = 0
STREAM = 1