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gimbal_v2.md: Add clarification about gimbal yaw frame #531

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gimbal_v2.md: Add clarification about gimbal yaw frame
Davidsastresas Mar 13, 2024
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hamishwillee Mar 13, 2024
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Update en/services/gimbal_v2.md
hamishwillee Mar 15, 2024
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13 changes: 13 additions & 0 deletions en/services/gimbal_v2.md
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Expand Up @@ -255,6 +255,19 @@ This signals that the gimbal manager also is also acting as the gimbal device.

Also see [how to address non-MAVLink gimbal devices](#non_mavlink_gimbal_device_addressing).

#### How to interpret `GIMBAL_DEVICE_ATTITUDE_STATUS` yaw gimbal angle

The [GIMBAL_DEVICE_ATTITUDE_STATUS.flags](#GIMBAL_DEVICE_ATTITUDE_STATUS) field must report the frame used for reported yaw values as **either**:

- `GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME`: Yaw is relative to vehicle.
- `GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME`: Yaw is relative to north.

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.

## Message/Command/Enum Summary

### Gimbal Manager Messages
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