control
abstract fun control(@NonNull mode: MainGimbal.ControlMode, @Nullable yaw: Double, @Nullable pitch: Double, @Nullable roll: Double)
Controls the gimbal.
Unit of the yaw
, pitch
, roll
values depends on the value of the mode
parameter:
- POSITION: axis value is in degrees and represents the desired position of the gimbal on the given axis.
- VELOCITY: axis value is in max velocity (getMaxSpeed.getValue()) ratio (from -1 to 1).
If mode is POSITION, frame of reference of a given axis depends on the value of the stabilization on this axis. If this axis is stabilized (i.e. getStabilization.isEnabled()), the ABSOLUTE frame of reference is used. Otherwise, the RELATIVE frame of reference is used.
Parameters
mode
the mode that should be used to move the gimbal. This parameter will change the unit of the following parameters
yaw
target on the yaw axis, or null
if you want to keep the current value
pitch
target on the pitch axis, or null
if you want to keep the current value
roll
target on the roll axis, or null
if you want to keep the current value