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Gimbal status messageupdate

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Pavel Kirienko
2014-07-22 15:08:12 +04:00
parent 35b7ae180b
commit 046c9559d1
1 changed files with 5 additions and 2 deletions
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dsdl/uavcan/equipment/gimbal/393.Status.uavcan
+5 -2
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@@ -8,5 +8,8 @@ uint4 MODE_ORIENTATION_BODY_FRAME = 2
uint4 MODE_GEO_POI = 3
uint4 mode
float16[4] orientation_xyzw
float16[<=9] orientation_covariance # +inf for non-existent axes
# Camera axis orientation in body frame (not in fixed frame).
# In case if the gimbal can only measure orientation relative to the fixed frame (e.g. using a dedicated IMU),
# it shall transform the orientation into the body frame automatically.
float16[4] body_frame_orientation_xyzw
float16[<=9] body_frame_orientation_covariance # +inf for non-existent axes