gimbal v2 - note that FLAGS_YAW_LOCK is still valid #532
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| Manufacturers working on new gimbal devices should use either `GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME` or `GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME` in `GIMBAL_DEVICE_ATTITUDE_STATUS` to report the yaw frame. | ||
| Components recieving the message should also handle `GIMBAL_DEVICE_FLAGS_YAW_LOCK` for backwards compatibility with older devices. | ||
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| > **Note** `GIMBAL_DEVICE_FLAGS_YAW_LOCK` must still be used when _setting_ an attitude target (in [GIMBAL_DEVICE_SET_ATTITUDE.flags](#GIMBAL_DEVICE_SET_ATTITUDE)), in order to specify that the target angles are relative to North. |
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In addition to GIMBAL_DEVICE_SET_ATTITUDE, it should also be used in the MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and GIMBAL_MANAGER_SET_PITCHYAW.
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Thanks @rmackay9 , but those use GIMBAL_MANAGER_FLAGS flags (same same name, but not the same thing)
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ok. To be a bit nitpicky, it's not "target angles are relative to North", it is just "target yaw is relative to North". Target roll and pitch are always relative to the horizon I think.
EDIT: actually I guess we're just talking about set-attitude which always uses Quaternions..
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Be as nit picky as you can. This correct?
| > **Note** `GIMBAL_DEVICE_FLAGS_YAW_LOCK` must still be used when _setting_ an attitude target (in [GIMBAL_DEVICE_SET_ATTITUDE.flags](#GIMBAL_DEVICE_SET_ATTITUDE)), in order to specify that the target angles are relative to North. | |
| > **Note** `GIMBAL_DEVICE_FLAGS_YAW_LOCK` must still be used when _setting_ an attitude target (in [GIMBAL_DEVICE_SET_ATTITUDE.flags](#GIMBAL_DEVICE_SET_ATTITUDE)), in order to specify that the target yaw is relative to North. |
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It applies to pitch/yaw as well as the quaternion.
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Indeed. Maybe we should explicitly indicate this, somebody integrating a new gimbal in development, if not super familiarized with quaternions, could see really weird values on the angles and could not realize it is because of these flags being wrong.
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Add a github suggestion.
This attempts to add the clarification in #531 (comment) that
GIMBAL_DEVICE_FLAGS_YAW_LOCKcan still be used when setting the gimbal attitude.Look OK @julianoes ?