Gimbal

public class Gimbal

Provide control over a gimbal.

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  • Initializes a new Gimbal plugin.

    Normally never created manually, but used from the Drone helper class instead.

    Declaration

    Swift

    public convenience init(address: String = "localhost",
                        port: Int32 = 50051,
                        scheduler: SchedulerType = ConcurrentDispatchQueueScheduler(qos: .background))

    Parameters

    address

    The address of the MavsdkServer instance to connect to
    port

    The port of the MavsdkServer instance to connect to
    scheduler

    The scheduler to be used by Observables
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  • Undocumented

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    Declaration

    Swift

    public struct RuntimeGimbalError : Error
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  • Undocumented

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    Declaration

    Swift

    public struct GimbalError : Error
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  • Gimbal mode type.

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    Declaration

    Swift

    public enum GimbalMode : Equatable
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  • Control mode

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    Declaration

    Swift

    public enum ControlMode : Equatable
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  • Control status

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    Declaration

    Swift

    public struct ControlStatus : Equatable
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  • Result type.

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    Declaration

    Swift

    public struct GimbalResult : Equatable
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  • Set gimbal pitch and yaw angles.

    This sets the desired pitch and yaw angles of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually be set to the new angles.

    Declaration

    Swift

    public func setPitchAndYaw(pitchDeg: Float, yawDeg: Float) -> Completable

    Parameters

    pitchDeg

    Pitch angle in degrees (negative points down)
    yawDeg

    Yaw angle in degrees (positive is clock-wise, range: -180 to 180 or 0 to 360)
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  • Set gimbal angular rates around pitch and yaw axes.

    This sets the desired angular rates around pitch and yaw axes of a gimbal. Will return when the command is accepted, however, it might take the gimbal longer to actually reach the angular rate.

    Declaration

    Swift

    public func setPitchRateAndYawRate(pitchRateDegS: Float, yawRateDegS: Float) -> Completable

    Parameters

    pitchRateDegS

    Angular rate around pitch axis in degrees/second (negative downward)
    yawRateDegS

    Angular rate around yaw axis in degrees/second (positive is clock-wise)
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  • Set gimbal mode.

    This sets the desired yaw mode of a gimbal. Will return when the command is accepted. However, it might take the gimbal longer to actually be set to the new angles.

    Declaration

    Swift

    public func setMode(gimbalMode: GimbalMode) -> Completable

    Parameters

    gimbalMode

    The mode to be set.
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  • Set gimbal region of interest (ROI).

    This sets a region of interest that the gimbal will point to. The gimbal will continue to point to the specified region until it receives a new command. The function will return when the command is accepted, however, it might take the gimbal longer to actually rotate to the ROI.

    Declaration

    Swift

    public func setRoiLocation(latitudeDeg: Double, longitudeDeg: Double, altitudeM: Float) -> Completable

    Parameters

    latitudeDeg

    Latitude in degrees
    longitudeDeg

    Longitude in degrees
    altitudeM

    Altitude in metres (AMSL)
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  • Take control.

    There can be only two components in control of a gimbal at any given time. One with “primary” control, and one with “secondary” control. The way the secondary control is implemented is not specified and hence depends on the vehicle.

    Components are expected to be cooperative, which means that they can override each other and should therefore do it carefully.

    Declaration

    Swift

    public func takeControl(controlMode: ControlMode) -> Completable

    Parameters

    controlMode

    Control mode (primary or secondary)
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  • Release control.

    Release control, such that other components can control the gimbal.

    Declaration

    Swift

    public func releaseControl() -> Completable
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  • Subscribe to control status updates.

    This allows a component to know if it has primary, secondary or no control over the gimbal. Also, it gives the system and component ids of the other components in control (if any).

    Declaration

    Swift

    public lazy var control: Observable<ControlStatus> { get set }
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