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71 lines
4.4 KiB
Markdown
71 lines
4.4 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GimbalManagerSetAttitude (UORB message)
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**TOPICS:** gimbal_manager_set_attitude
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## Fields
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| 명칭 | 형식 | Unit [Frame] | Range/Enum | 설명 |
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| ------------------------------------------------------------ | ------------ | ---------------------------------------------------------------- | ---------- | --------------------------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| origin_sysid | `uint8` | | | |
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| origin_compid | `uint8` | | | |
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| target_system | `uint8` | | | |
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| target_component | `uint8` | | | |
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| flags | `uint32` | | | |
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| gimbal_device_id | `uint8` | | | |
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| q | `float32[4]` | | | |
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| angular_velocity_x | `float32` | | | |
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| angular_velocity_y | `float32` | | | |
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| angular_velocity_z | `float32` | | | |
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## Constants
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| 명칭 | 형식 | Value | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------- | ----- | -- |
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| <a id="#GIMBAL_MANAGER_FLAGS_RETRACT"></a> GIMBAL_MANAGER_FLAGS_RETRACT | `uint32` | 1 | |
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| <a id="#GIMBAL_MANAGER_FLAGS_NEUTRAL"></a> GIMBAL_MANAGER_FLAGS_NEUTRAL | `uint32` | 2 | |
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| <a id="#GIMBAL_MANAGER_FLAGS_ROLL_LOCK"></a> GIMBAL_MANAGER_FLAGS_ROLL_LOCK | `uint32` | 4 | |
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| <a id="#GIMBAL_MANAGER_FLAGS_PITCH_LOCK"></a> GIMBAL_MANAGER_FLAGS_PITCH_LOCK | `uint32` | 8 | |
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| <a id="#GIMBAL_MANAGER_FLAGS_YAW_LOCK"></a> GIMBAL_MANAGER_FLAGS_YAW_LOCK | `uint32` | 16 | |
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| <a id="#ORB_QUEUE_LENGTH"></a> ORB_QUEUE_LENGTH | `uint8` | 2 | |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalManagerSetAttitude.msg)
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:::details
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Click here to see original file
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```c
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uint64 timestamp # time since system start (microseconds)
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uint8 origin_sysid
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uint8 origin_compid
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uint8 target_system
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uint8 target_component
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uint32 GIMBAL_MANAGER_FLAGS_RETRACT = 1
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uint32 GIMBAL_MANAGER_FLAGS_NEUTRAL = 2
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uint32 GIMBAL_MANAGER_FLAGS_ROLL_LOCK = 4
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uint32 GIMBAL_MANAGER_FLAGS_PITCH_LOCK = 8
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uint32 GIMBAL_MANAGER_FLAGS_YAW_LOCK = 16
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uint32 flags
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uint8 gimbal_device_id
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float32[4] q
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float32 angular_velocity_x
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float32 angular_velocity_y
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float32 angular_velocity_z
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uint8 ORB_QUEUE_LENGTH = 2
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```
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:::
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