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75 lines
3.0 KiB
Markdown
75 lines
3.0 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GimbalDeviceAttitudeStatus (UORB message)
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**TOPICS:** gimbal_device_attitude_status
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------------------- | ------------ | ------------ | ---------- | -------------------------------------- |
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| timestamp | `uint64` | | | time since system start (microseconds) |
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| target_system | `uint8` | | |
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| target_component | `uint8` | | |
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| device_flags | `uint16` | | |
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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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| failure_flags | `uint32` | | |
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| delta_yaw | `float32` | | |
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| delta_yaw_velocity | `float32` | | |
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| gimbal_device_id | `uint8` | | |
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| received_from_mavlink | `bool` | | |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#DEVICE_FLAGS_RETRACT"></a> DEVICE_FLAGS_RETRACT | `uint16` | 1 |
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| <a id="#DEVICE_FLAGS_NEUTRAL"></a> DEVICE_FLAGS_NEUTRAL | `uint16` | 2 |
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| <a id="#DEVICE_FLAGS_ROLL_LOCK"></a> DEVICE_FLAGS_ROLL_LOCK | `uint16` | 4 |
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| <a id="#DEVICE_FLAGS_PITCH_LOCK"></a> DEVICE_FLAGS_PITCH_LOCK | `uint16` | 8 |
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| <a id="#DEVICE_FLAGS_YAW_LOCK"></a> DEVICE_FLAGS_YAW_LOCK | `uint16` | 16 |
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| <a id="#DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME"></a> DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME | `uint16` | 32 |
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| <a id="#DEVICE_FLAGS_YAW_IN_EARTH_FRAME"></a> DEVICE_FLAGS_YAW_IN_EARTH_FRAME | `uint16` | 64 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceAttitudeStatus.msg)
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::: details 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 target_system
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uint8 target_component
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uint16 device_flags
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uint16 DEVICE_FLAGS_RETRACT = 1
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uint16 DEVICE_FLAGS_NEUTRAL = 2
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uint16 DEVICE_FLAGS_ROLL_LOCK = 4
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uint16 DEVICE_FLAGS_PITCH_LOCK = 8
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uint16 DEVICE_FLAGS_YAW_LOCK = 16
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uint16 DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME = 32
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uint16 DEVICE_FLAGS_YAW_IN_EARTH_FRAME = 64
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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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uint32 failure_flags
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float32 delta_yaw
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float32 delta_yaw_velocity
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uint8 gimbal_device_id
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bool received_from_mavlink
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```
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:::
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