Struct GimbalDeviceAttitudeStatus 

pub struct GimbalDeviceAttitudeStatus {
    pub target_system: u8,
    pub target_component: u8,
    pub time_boot_ms: u32,
    pub flags: GimbalDeviceFlags,
    pub q: [f32; 4],
    pub angular_velocity_x: f32,
    pub angular_velocity_y: f32,
    pub angular_velocity_z: f32,
    pub failure_flags: GimbalDeviceErrorFlags,
    pub delta_yaw: f32,
    pub delta_yaw_velocity: f32,
    pub gimbal_device_id: u8,
}

MAVLink GIMBAL_DEVICE_ATTITUDE_STATUS message.

The minimum supported MAVLink version is MAVLink 2.

Description

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.

Encoding/Decoding

Message encoding/decoding are provided by implementing core::convert::TryFrom<Payload> for GimbalDeviceAttitudeStatus (encoding) and [IntoPayload] (decoding) traits. These traits are implemented by Message proc macro.

Fields

target_system: u8

MAVLink field target_system.

System ID

target_component: u8

MAVLink field target_component.

Component ID

time_boot_ms: u32

MAVLink field time_boot_ms.

Timestamp (time since system boot).

flags: GimbalDeviceFlags

MAVLink field flags.

Current gimbal flags set.

q: [f32; 4]

MAVLink field q.

Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.

angular_velocity_x: f32

MAVLink field angular_velocity_x.

X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.

angular_velocity_y: f32

MAVLink field angular_velocity_y.

Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.

angular_velocity_z: f32

MAVLink field angular_velocity_z.

Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.

failure_flags: GimbalDeviceErrorFlags

MAVLink field failure_flags.

Failure flags (0 for no failure)

delta_yaw: f32

MAVLink field delta_yaw.

Yaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.

delta_yaw_velocity: f32

MAVLink field delta_yaw_velocity.

Yaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.

gimbal_device_id: u8

MAVLink field gimbal_device_id.

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.

Implementations

impl GimbalDeviceAttitudeStatus

pub const ID: u32 = 285u32

MavLink message ID.

pub const fn spec() -> MessageInfo

Returns specification for this message.

pub const fn message_id() -> u32

Message ID.

pub const fn crc_extra() -> u8

Message CRC_EXTRA.

pub const fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

Trait Implementations

impl Clone for GimbalDeviceAttitudeStatus

fn clone(&self) -> GimbalDeviceAttitudeStatus

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for GimbalDeviceAttitudeStatus

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for GimbalDeviceAttitudeStatus

fn default() -> GimbalDeviceAttitudeStatus

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for GimbalDeviceAttitudeStatus

fn deserialize<__D>( __deserializer: __D, ) -> Result<GimbalDeviceAttitudeStatus, <__D as Deserializer<'de>>::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<GimbalDeviceAttitudeStatus> for Common

fn from(value: GimbalDeviceAttitudeStatus) -> Common

Converts to this type from the input type.

impl IntoPayload for GimbalDeviceAttitudeStatus

fn encode(&self, version: MavLinkVersion) -> Result<Payload, SpecError>

Encodes message into MAVLink payload.

impl MessageSpec for GimbalDeviceAttitudeStatus

fn id(&self) -> u32

MAVLink message ID.

fn min_supported_mavlink_version(&self) -> MavLinkVersion

Minimum supported MAVLink protocol version.

fn crc_extra(&self) -> u8

Message EXTRA_CRC calculated from message XML definition.

impl MessageSpecStatic for GimbalDeviceAttitudeStatus

fn spec() -> MessageInfo

Returns specification for this message.

fn message_id() -> u32

Message ID.

fn crc_extra() -> u8

Message CRC_EXTRA.

fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

impl NamedType for GimbalDeviceAttitudeStatus

fn sid() -> SpectaID

fn named_data_type( type_map: &mut TypeCollection, generics: &[DataType], ) -> NamedDataType

this is equivalent to Type::inline but returns a NamedDataType instead.

fn definition_named_data_type(type_map: &mut TypeCollection) -> NamedDataType

this is equivalent to [Type::definition] but returns a NamedDataType instead.

impl PartialEq for GimbalDeviceAttitudeStatus

fn eq(&self, other: &GimbalDeviceAttitudeStatus) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for GimbalDeviceAttitudeStatus

fn serialize<__S>( &self, __serializer: __S, ) -> Result<<__S as Serializer>::Ok, <__S as Serializer>::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TryFrom<&Payload> for GimbalDeviceAttitudeStatus

type Error = SpecError

The type returned in the event of a conversion error.

fn try_from( value: &Payload, ) -> Result<GimbalDeviceAttitudeStatus, <GimbalDeviceAttitudeStatus as TryFrom<&Payload>>::Error>

Performs the conversion.

impl Type for GimbalDeviceAttitudeStatus

fn inline(type_map: &mut TypeCollection, generics: Generics<'_>) -> DataType

Returns the definition of a type using the provided generics.

fn reference(type_map: &mut TypeCollection, generics: &[DataType]) -> Reference

Generates a datatype corresponding to a reference to this type, as determined by its category. Getting a reference to a type implies that it should belong in the type map (since it has to be referenced from somewhere), so the output of definition will be put into the type map.

impl Flatten for GimbalDeviceAttitudeStatus

impl Message for GimbalDeviceAttitudeStatus

impl StructuralPartialEq for GimbalDeviceAttitudeStatus