From 046c9559d14e9693399d493dc01b9ef49401f23b Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Tue, 22 Jul 2014 15:08:12 +0400 Subject: [PATCH] Gimbal status messageupdate --- dsdl/uavcan/equipment/gimbal/393.Status.uavcan | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/dsdl/uavcan/equipment/gimbal/393.Status.uavcan b/dsdl/uavcan/equipment/gimbal/393.Status.uavcan index b6b506ea58..2d4942be0a 100644 --- a/dsdl/uavcan/equipment/gimbal/393.Status.uavcan +++ b/dsdl/uavcan/equipment/gimbal/393.Status.uavcan @@ -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