Development Guide

Gimbal Control Setup

This is a rough scrapbook on how to setup gimbal control via MAVLink.

Relevant parameters

GMB_USE_MNT

GMB_AUX_MNT_CHN

Use COMMAND_LONG with the following enums:

MAV_CMD_DO_MOUNT_CONTROL to control the outputs directly.

MAV_CMD_DO_MOUNT_CONFIGURE to configure the gimbal app.

Setup

The setup requires knowledge about how to configure the system startup.

Start gimbal app

Add the following command to your boot process:

gimbal start

Configure the gimbal mixer

These are the supported outputs:

# roll
M: 1
O:      10000  10000      0 -10000  10000
S: 2 0  10000  10000      0 -10000  10000

# pitch
M: 1
O:      10000  10000      0 -10000  10000
S: 2 1  10000  10000      0 -10000  10000

# yaw
M: 1
O:      10000  10000      0 -10000  10000
S: 2 2  10000  10000      0 -10000  10000

# shutter (currently not implemented by the gimbal app)
#M: 1
#O:      10000  10000      0 -10000  10000
#S: 2 3  10000  10000      0 -10000  10000

# mount, retractables
M: 1
O:      10000  10000      0 -10000  10000
S: 2 4  10000  10000      0 -10000  10000

Add those you need to your main or auxiliary mixer.