Gimbal

class mavsdk.gimbal.ControlMode(value)

Bases: enum.Enum

Control mode

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(control_mode, sysid_primary_control, compid_primary_control, sysid_secondary_control, compid_secondary_control)

Bases: object

Control status

Parameters

  • 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.Gimbal(async_plugin_manager)

Bases: mavsdk._base.AsyncBase

Provide control over a gimbal.

Generated by dcsdkgen - MAVSDK Gimbal API

control()

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

name = 'Gimbal'
async release_control()

Release control.

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

Raises

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

async set_mode(gimbal_mode)

Set gimbal mode.

This sets the desired yaw mode 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.

Parameters

gimbal_mode (GimbalMode) – The mode to be set.

Raises

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

async set_pitch_and_yaw(pitch_deg, yaw_deg)

Set gimbal pitch and yaw angles.

This sets the desired 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.

Parameters

  • 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)

Raises

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

async set_pitch_rate_and_yaw_rate(pitch_rate_deg_s, yaw_rate_deg_s)

Set gimbal angular rates around pitch and yaw axes.

This sets the desired angular rates around 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.

Parameters

  • 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)

Raises

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

async set_roi_location(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

  • 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(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

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.GimbalMode(value)

Bases: enum.Enum

Gimbal mode type.

YAW_FOLLOW

Yaw follow will point the gimbal to the vehicle heading

YAW_LOCK

Yaw lock will fix the gimbal poiting 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.Enum

Possible results returned for gimbal commands.

UNKNOWN

Unknown result

SUCCESS

Command was accepted

ERROR

Error occurred sending the command

TIMEOUT

Command timed out

UNSUPPORTED

Functionality not supported

ERROR = 2
SUCCESS = 1
TIMEOUT = 3
UNKNOWN = 0
UNSUPPORTED = 4