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pageClass: is-wide-page
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# GimbalDeviceInformation (UORB message)

**TOPICS:** gimbal_device_information

## Fields

| Name             | Type        | Unit [Frame] | Range/Enum | Description                            |
| ---------------- | ----------- | ------------ | ---------- | -------------------------------------- |
| timestamp        | `uint64`    |              |            | time since system start (microseconds) |
| vendor_name      | `uint8[32]` |              |            |
| model_name       | `uint8[32]` |              |            |
| custom_name      | `uint8[32]` |              |            |
| firmware_version | `uint32`    |              |            |
| hardware_version | `uint32`    |              |            |
| uid              | `uint64`    |              |            |
| cap_flags        | `uint16`    |              |            |
| custom_cap_flags | `uint16`    |              |            |
| roll_min         | `float32`   | rad          |            |
| roll_max         | `float32`   | rad          |            |
| pitch_min        | `float32`   | rad          |            |
| pitch_max        | `float32`   | rad          |            |
| yaw_min          | `float32`   | rad          |            |
| yaw_max          | `float32`   | rad          |            |
| gimbal_device_id | `uint8`     |              |            |

## Constants

| Name                                                                                                      | Type     | Value | Description |
| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT                     | `uint32` | 1     |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL                     | `uint32` | 2     |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS                 | `uint32` | 4     |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW             | `uint32` | 8     |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK                 | `uint32` | 16    |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS               | `uint32` | 32    |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW           | `uint32` | 64    |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK               | `uint32` | 128   |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS                   | `uint32` | 256   |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW               | `uint32` | 512   |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK                   | `uint32` | 1024  |
| <a id="#GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048  |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.msg)

::: details Click here to see original file

```c
uint64 timestamp						# time since system start (microseconds)

uint8[32] vendor_name
uint8[32] model_name
uint8[32] custom_name
uint32 firmware_version
uint32 hardware_version
uint64 uid

uint16 cap_flags

uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS = 4
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK = 16
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS = 32
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048

uint16 custom_cap_flags

float32 roll_min # [rad]
float32 roll_max # [rad]

float32 pitch_min # [rad]
float32 pitch_max # [rad]

float32 yaw_min # [rad]
float32 yaw_max # [rad]

uint8 gimbal_device_id
```

:::
