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gimbal v2 - note that FLAGS_YAW_LOCK is still valid #532

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gimbal v2 - note that FLAGS_YAW_LOCK is still valid #532

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6 changes: 4 additions & 2 deletions en/services/gimbal_v2.md
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Expand Up @@ -265,8 +265,10 @@ The [GIMBAL_DEVICE_ATTITUDE_STATUS.flags](#GIMBAL_DEVICE_ATTITUDE_STATUS) field
For older devices, if neither of the flags above are set, the yaw frame must be inferred from the `GIMBAL_DEVICE_FLAGS_YAW_LOCK`.
If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

> **Note** Manufacturers working on new gimbal devices should set either `GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME` or `GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME`.
> Components recieving the message should also handle `GIMBAL_DEVICE_FLAGS_YAW_LOCK` for backwards compatibility with older devices.
Manufacturers working on new gimbal devices should use either `GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME` or `GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME` in `GIMBAL_DEVICE_ATTITUDE_STATUS` to report the yaw frame.
Components recieving the message should also handle `GIMBAL_DEVICE_FLAGS_YAW_LOCK` for backwards compatibility with older devices.

> **Note** `GIMBAL_DEVICE_FLAGS_YAW_LOCK` must still be used when _setting_ an attitude target (in [GIMBAL_DEVICE_SET_ATTITUDE.flags](#GIMBAL_DEVICE_SET_ATTITUDE)), in order to specify that the target angles are relative to North.
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In addition to GIMBAL_DEVICE_SET_ATTITUDE, it should also be used in the MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and GIMBAL_MANAGER_SET_PITCHYAW.

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Thanks @rmackay9 , but those use GIMBAL_MANAGER_FLAGS flags (same same name, but not the same thing)

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@rmackay9 rmackay9 Mar 20, 2024 •
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ok. To be a bit nitpicky, it's not "target angles are relative to North", it is just "target yaw is relative to North". Target roll and pitch are always relative to the horizon I think.

EDIT: actually I guess we're just talking about set-attitude which always uses Quaternions..

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Be as nit picky as you can. This correct?

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> **Note** `GIMBAL_DEVICE_FLAGS_YAW_LOCK` must still be used when _setting_ an attitude target (in [GIMBAL_DEVICE_SET_ATTITUDE.flags](#GIMBAL_DEVICE_SET_ATTITUDE)), in order to specify that the target angles are relative to North.
> **Note** `GIMBAL_DEVICE_FLAGS_YAW_LOCK` must still be used when _setting_ an attitude target (in [GIMBAL_DEVICE_SET_ATTITUDE.flags](#GIMBAL_DEVICE_SET_ATTITUDE)), in order to specify that the target yaw is relative to North.

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It applies to pitch/yaw as well as the quaternion.

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@Davidsastresas Davidsastresas Mar 20, 2024 •
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Indeed. Maybe we should explicitly indicate this, somebody integrating a new gimbal in development, if not super familiarized with quaternions, could see really weird values on the angles and could not realize it is because of these flags being wrong.

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## Message/Command/Enum Summary

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