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DJI::OSDK::Gimbal::AngleData Struct Reference

The Angle Data struct for gimbal control. More...

#include <dji_gimbal.hpp>

Public Attributes

int16_t yaw
 
int16_t roll
 
int16_t pitch
 
uint8_t mode
 
uint8_t duration
 

Detailed Description

The Angle Data struct for gimbal control.

The relationship bewteen the angle reference in absolute control mode and gimbal mode configuration in DJI Go App

Gimbal Mode Roll Pitch Yaw Gimbal Follow UAV's Head
Follow Ground Ground Body Y
FPV N/A Ground N/A Y
Free Ground Ground Ground N
Note
  • Rotating 90 degree in pitch direction will cause gimbal lock problem, in which the value of roll and yaw are not reliable.
  • M600 with A3 only supports Ronin-MX/Zenmuse X5 Series/Zenmuse X3/Zenmuse XT when operating gimbal control in angle.

Member Data Documentation

◆ duration

uint8_t DJI::OSDK::Gimbal::AngleData::duration

Command completion time.

  • Unit 0.1s, for example 20 means gimbal will reach the commended postition in 2 seconds.
  • Rotate rate beyond 400º/s is not recommand

◆ mode

uint8_t DJI::OSDK::Gimbal::AngleData::mode

Mode is 1 byte size:

Bit #: Set to 0: Set to 1:
bit 0 Incremental control, the angle reference is the current Gimbal location Absolute control, the angle reference is related to configuration in DJI Go App
bit 1 Gimbal will follow the command in Yaw Gimbal will maintain position in Yaw
bit 2 Roll invalid bit, the same as bit[1] Roll invalid bit, the same as bit[1]
bit 3 Pitch invalid bit, the same as bit[1] Pitch invalid bit, the same as bit[1]
bit [4:7] bit [4:7]: reserved, set to be 0

◆ pitch

int16_t DJI::OSDK::Gimbal::AngleData::pitch

Pitch angle, unit 0.1 degree, input range [-900,300]

◆ roll

int16_t DJI::OSDK::Gimbal::AngleData::roll

Roll angle, unit 0.1 degree, input range [-350,350]

◆ yaw

int16_t DJI::OSDK::Gimbal::AngleData::yaw

Yaw angle, unit 0.1 degree , input range [-3200,3200]

The documentation for this struct was generated from the following file: