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Update gimbal.cpp #2387

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Sep 1, 2024
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Update gimbal.cpp #2387

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1e09a58
Update gimbal.cpp
KarthiAru Aug 29, 2024
8925268
Update gimbal.cpp
KarthiAru Aug 29, 2024
b3e8063
Style fix for Ubuntu 24.04
KarthiAru Aug 29, 2024
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Update gimbal.cpp
KarthiAru Aug 30, 2024
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96 changes: 65 additions & 31 deletions examples/gimbal/gimbal.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,76 +90,110 @@ int main(int argc, char** argv)
return 1;
}

// Fetch the gimbal attitude
auto [result, attitude] = gimbal.get_attitude(gimbal_id);
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Nice 😄

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Thanks :)


std::cout << "Use yaw mode to lock to a specific direction...\n";

std::cout << "Look North...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id,
0.0f,
0.0f,
-attitude.euler_angle_north.yaw_deg,
Gimbal::GimbalMode::YawLock,
Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Look East...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 90.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id,
0.0f,
0.0f,
-attitude.euler_angle_north.yaw_deg + 90.0f,
Gimbal::GimbalMode::YawLock,
Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Look South...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 180.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id,
0.0f,
0.0f,
-attitude.euler_angle_north.yaw_deg + 180.0f,
Gimbal::GimbalMode::YawLock,
Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Look West...\n";
gimbal.set_angles(0, 0.0f, 0.0f, -90.0f, Gimbal::GimbalMode::YawLock, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id,
0.0f,
0.0f,
-attitude.euler_angle_north.yaw_deg - 90.0f,
Gimbal::GimbalMode::YawLock,
Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Now use follow mode...\n";

std::cout << "And center first...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Tilt gimbal down...\n";
gimbal.set_angles(0, 0.0f, -90.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, -90.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Tilt gimbal back up...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Slowly tilt up ...\n";
gimbal.set_angular_rates(
0, 0.0f, 10.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(4));
gimbal_id, 0.0f, 10.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Back to horizontal...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Pan to the right...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 90.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 90.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Back to the center...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Pan slowly to the left...\n";
gimbal.set_angular_rates(
0, 0.0f, 0.0f, -10.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(4));
gimbal_id, 0.0f, 0.0f, -10.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Back to the center...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
gimbal.set_angles(
gimbal_id, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(5));

std::cout << "Set ROI (region of interested) location...\n";
gimbal.set_roi_location(0, 47.39743832, 8.5463316, 488.0f);
sleep_for(seconds(3));
gimbal.set_roi_location(gimbal_id, 47.39743832, 8.5463316, 488.0f);
sleep_for(seconds(10));

std::cout << "Back to the center...\n";
gimbal.set_angles(0, 0.0f, 0.0f, 0.0f, Gimbal::GimbalMode::YawFollow, Gimbal::SendMode::Once);
sleep_for(seconds(2));
sleep_for(seconds(5));

std::cout << "Stop controlling gimbal...\n";
gimbal_result = gimbal.release_control(0);
gimbal_result = gimbal.release_control(gimbal_id);
if (gimbal_result != Gimbal::Result::Success) {
std::cerr << "Could not take gimbal control: " << gimbal_result << '\n';
std::cerr << "Could not release gimbal control: " << gimbal_result << '\n';
return 1;
}

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