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93 lines
4.3 KiB
Markdown
93 lines
4.3 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# GimbalDeviceInformation (UORB message)
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**TOPICS:** gimbal_device_information
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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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| vendor_name | `uint8[32]` | | |
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| model_name | `uint8[32]` | | |
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| custom_name | `uint8[32]` | | |
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| firmware_version | `uint32` | | |
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| hardware_version | `uint32` | | |
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| uid | `uint64` | | |
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| cap_flags | `uint16` | | |
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| custom_cap_flags | `uint16` | | |
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| roll_min | `float32` | rad | |
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| roll_max | `float32` | rad | |
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| pitch_min | `float32` | rad | |
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| pitch_max | `float32` | rad | |
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| yaw_min | `float32` | rad | |
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| yaw_max | `float32` | rad | |
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| gimbal_device_id | `uint8` | | |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------------------------------------------------------------------- | -------- | ----- | ----------- |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT | `uint32` | 1 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL | `uint32` | 2 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS | `uint32` | 4 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW | `uint32` | 8 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK | `uint32` | 16 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS | `uint32` | 32 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW | `uint32` | 64 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK | `uint32` | 128 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS | `uint32` | 256 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW | `uint32` | 512 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK"></a> GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK | `uint32` | 1024 |
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| <a id="#GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW"></a> GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW | `uint32` | 2048 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/GimbalDeviceInformation.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[32] vendor_name
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uint8[32] model_name
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uint8[32] custom_name
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uint32 firmware_version
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uint32 hardware_version
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uint64 uid
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uint16 cap_flags
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT = 1
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL = 2
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS = 4
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW = 8
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK = 16
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS = 32
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW = 64
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK = 128
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS = 256
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW = 512
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uint32 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK = 1024
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uint32 GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW = 2048
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uint16 custom_cap_flags
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float32 roll_min # [rad]
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float32 roll_max # [rad]
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float32 pitch_min # [rad]
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float32 pitch_max # [rad]
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float32 yaw_min # [rad]
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float32 yaw_max # [rad]
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uint8 gimbal_device_id
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```
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:::
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