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Gimbal message update

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This commit is contained in:
Pavel Kirienko 2015-03-18 18:00:58 +03:00
parent 519a9f22a0
commit 86c234fa9b
4 changed files with 34 additions and 22 deletions
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23
dsdl/uavcan/equipment/camera_gimbal/390.Command.uavcan → dsdl/uavcan/equipment/camera_gimbal/390.AngularCommand.uavcan
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@ -1,31 +1,20 @@
#
# Generic camera gimbal control.
#
# This message can only be used in the following modes:
# - COMMAND_MODE_ANGULAR_VELOCITY
# - COMMAND_MODE_ORIENTATION_FIXED_FRAME
# - COMMAND_MODE_ORIENTATION_BODY_FRAME
#
#
# Target operation mode - how to handle this message.
# See the list of acceptable modes above.
#
Mode mode
#
# This field is only used in the following modes:
# - COMMAND_MODE_ANGULAR_VELOCITY
# - COMMAND_MODE_ORIENTATION_FIXED_FRAME
# - COMMAND_MODE_ORIENTATION_BODY_FRAME
#
# In the angular velocity mode, this field contains a rate quaternion.
# In the orientation mode, this field contains orientation either in fixed frame or in body frame.
#
float16[4] quaternion_xyzw
#
# These fields are only used in the following modes:
# - COMMAND_MODE_GEO_POI
#
int32 longitude_deg_1e7 # 1 LSB = 1e-7 deg
int32 latitude_deg_1e7
int22 height_cm # 1 LSB = 10 mm
uint2 HEIGHT_REFERENCE_ELLIPSOID = 0
uint2 HEIGHT_REFERENCE_MEAN_SEA_LEVEL = 1
uint2 height_reference

23
dsdl/uavcan/equipment/camera_gimbal/391.GEOPOICommand.uavcan Normal file
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@ -0,0 +1,23 @@
#
# Generic camera gimbal control.
#
# This message can only be used in the following modes:
# - COMMAND_MODE_GEO_POI
#
#
# Target operation mode - how to handle this message.
# See the list of acceptable modes above.
#
Mode mode
#
# Coordinates of the POI (point of interest).
#
int32 longitude_deg_1e7 # 1 LSB = 1e-7 deg
int32 latitude_deg_1e7
int22 height_cm # 1 LSB = 10 mm
uint2 HEIGHT_REFERENCE_ELLIPSOID = 0
uint2 HEIGHT_REFERENCE_MEAN_SEA_LEVEL = 1
uint2 height_reference

0
dsdl/uavcan/equipment/camera_gimbal/391.Status.uavcan → dsdl/uavcan/equipment/camera_gimbal/392.Status.uavcan
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10
dsdl/uavcan/equipment/camera_gimbal/Mode.uavcan
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@ -2,8 +2,8 @@
# Gimbal operating mode
#
uint4 COMMAND_MODE_ANGULAR_VELOCITY = 0
uint4 COMMAND_MODE_ORIENTATION_FIXED_FRAME = 1
uint4 COMMAND_MODE_ORIENTATION_BODY_FRAME = 2
uint4 COMMAND_MODE_GEO_POI = 3
uint4 command_mode
uint8 COMMAND_MODE_ANGULAR_VELOCITY = 0
uint8 COMMAND_MODE_ORIENTATION_FIXED_FRAME = 1
uint8 COMMAND_MODE_ORIENTATION_BODY_FRAME = 2
uint8 COMMAND_MODE_GEO_POI = 3
uint8 command_mode