MainGimbal

Main gimbal peripheral interface for drones.

This provides control of the mechanical gimbal "holding" and orientating the drone main camera.

The gimbal can act on one or multiple axes. It can stabilize a given axis, meaning that the movement on this axis will be following the horizon (for PITCH and ROLL) or the North (for the YAW).

Two frames of reference are used to control the gimbal with the POSITION mode, and to retrieve the gimbal attitude.

ABSOLUTE:

• yaw: given angle is relative to the magnetic North (clockwise).
• pitch: given angle is relative to the horizon. Positive pitch values means an orientation towards sky.
• roll: given angle is relative to the horizon line. Positive roll values means an orientation to the right when seeing the gimbal from behind.

RELATIVE:

• yaw: given angle is relative to the heading of the drone. Positive yaw values means a right orientation when seeing the gimbal from above.
• pitch: given angle is relative to the body of the drone. Positive pitch values means an orientation of the gimbal towards the top of the drone.
• roll: given angle is relative to the body of the drone. Positive roll values means an clockwise rotation of the gimbal.

This peripheral can be obtained from a drone using:

drone.getPeripheral(Gimbal.class)