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Gimbal Management

Macros​

Defines the rotational properties of the gimbal:

typedef struct {
    E_UAVGimbalRotationMode rotationMode; /*!< Rotation gimbal mode. */
    float pitch; /*!< Pitch angle in degree, unit: deg */
    float roll; /*!< Roll angle in degree, unit: deg */
    float yaw; /*!< Yaw angle in degree, unit: deg */
    int64_t time; /*!< Expect execution time of gimbal rotation, unit: second. */
} T_UAVGimbalManagerRotation;

Function Prototypes​

UAV_GimbalManager_Init​

  • Function： Initializes the gimbal management module.

    note：

    • This interface should be initialized after UAV_Core_Init().
T_UAVReturnCode UAV_GimbalManager_Init(void)

UAV_GimbalManager_Deinit​

  • Function： Deinitializes the gimbal management module.
T_UAVReturnCode UAV_GimbalManager_Deinit(void)

UAV_GimbalManager_SetMode​

  • Function： Set gimbal working mode.
T_UAVReturnCode UAV_GimbalManager_SetMode(E_UAVGimbalMode mode)
  • Parameter
    • mode: Gimbal working mode. The input restrictions are defined in E_UAVGimbalMode.

UAV_GimbalManager_Reset​

  • Function： Reset the gimbal's pitch and yaw angles.
T_UAVReturnCode UAV_GimbalManager_Reset(E_UAVGimbalResetMode resetMode)
  • Parameter
    • mode：Reset mode, input restrictions are defined in E_UAVGimbalResetMode.

UAV_GimbalManager_Rotate​

  • Function： Rotate the gimbal angle.
T_UAVReturnCode UAV_GimbalManager_Rotate(T_UAVGimbalManagerRotation rotation)
  • Parameters
    • rotation：Rotation parameters for the target gimbal, including rotation mode, target angle value, and execution time, defined in T_UAVGimbalManagerRotation.
    • mountPosition：The gimbal mounting position, input restrictions are defined in E_UAVMountPosition.

UAV_GimbalManager_SetPitchRangeExtensionEnabled​

  • Function： Set the maximum speed percentage of the gimbal controller.
T_UAVReturnCode UAV_GimbalManager_SetPitchRangeExtensionEnabled(bool enabledFlag)
  • Parameter
    • enabledFlag：Specify whether to enable or disable the gimbal pitch limit extension.

UAV_GimbalManager_SetControllerMaxSpeedPercentage​

  • Function： Set the maximum speed percentage of the gimbal controller.
T_UAVReturnCode UAV_GimbalManager_SetControllerMaxSpeedPercentage(E_UAVGimbalAxis axis, uint8_t maxSpeedPercentage)
  • Parameters
    • maxSpeedPercentage: Maximum speed value, the recommended calculation formula is "spd = default_max_spd * x / 100", where x is the default maximum speed. The range is from 1 to 100.
    • axis：Set the axis.

UAV_GimbalManager_SetControllerSmoothFactor​

  • Function：Set the smoothing factor of the gimbal controller.
T_UAVReturnCode UAV_GimbalManager_SetControllerSmoothFactor(E_UAVGimbalAxis axis, uint8_t smoothingFactor)
  • Parameters
    • smoothingFactor: Smoothing factor, the higher the value, the smaller the gimbal's rotation acceleration. The recommended calculation formula is "acc = 10000 * (0.8 ^ (1 + x)) deg/s^2", where x is the smoothing factor, ranging from 1 to 30.
    • axis：The axis to be set.

UAV_GimbalManager_RestoreFactorySettings​

  • Function：Restore the gimbal to factory settings.
T_UAVReturnCode UAV_GimbalManager_RestoreFactorySettings()