GimbalDeviceAttitudeStatus class

Message reporting the status of a gimbal device. This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

GIMBAL_DEVICE_ATTITUDE_STATUS

Implemented types

Constructors

GimbalDeviceAttitudeStatus({required uint32_t timeBootMs, required List<float> q, required float angularVelocityX, required float angularVelocityY, required float angularVelocityZ, required GimbalDeviceErrorFlags failureFlags, required GimbalDeviceFlags flags, required uint8_t targetSystem, required uint8_t targetComponent, required float deltaYaw, required float deltaYawVelocity, required uint8_t gimbalDeviceId})
GimbalDeviceAttitudeStatus.parse(ByteData data_)
factory

Properties

angularVelocityX → float
X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
final
angularVelocityY → float
Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
final
angularVelocityZ → float
Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
final
deltaYaw → float
Yaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
final
deltaYawVelocity → float
Yaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
final
failureFlags → GimbalDeviceErrorFlags
Failure flags (0 for no failure)
final
flags → GimbalDeviceFlags
Current gimbal flags set.
final
gimbalDeviceId → uint8_t
This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.
final
hashCode → int
The hash code for this object.
no setterinherited
mavlinkCrcExtra → int
no setteroverride
mavlinkMessageId → int
no setteroverride
q → List<float>
Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
final
runtimeType → Type
A representation of the runtime type of the object.
no setterinherited
targetComponent → uint8_t
Component ID
final
targetSystem → uint8_t
System ID
final
timeBootMs → uint32_t
Timestamp (time since system boot).
final

Methods

noSuchMethod(Invocation invocation) → dynamic
Invoked when a nonexistent method or property is accessed.
inherited
serialize() → ByteData
override
toString() → String
A string representation of this object.
inherited

Operators

operator ==(Object other) → bool
The equality operator.
inherited

Constants

mavlinkEncodedLength → const int