This is a simple MAVLink to UART interface example for Unix systems that can allow communication between Gremsy's Gimbal and an Onboard computer.
This example will receive one MAVLink message and send one MAVLink message.
$ cd gSDK/
$ mkdir build && cd build
$ cmake ..
$ make
Connect the COM2 cable to your Onboard Computer.
The hardware connection between an GIMBAL T3 and a PC or Linux machine. Note that:
The recommended choice of USB to TTL cable is FT232 module.
Refer to: gSDK Documentation
An FTDI cable will show up on a ttyUSB*.
Run the example executable on the host shell:
You have to pick a port name, try searching for it with
$ ls /dev/ttyACM*
$ ls /dev/ttyUSB*
Run the example executable on the host shell:
$ cd gSDK/
$ ./gSDK -d /dev/ttyUSB0
To stop the program, use the key sequence Ctrl-C.
Here's an example output:
$ ./gSDK -d /dev/ttyUSB0
OPEN PORT
Connected to /dev/ttyUSB0 with 115200 baud, 8 data bits, no parity, 1 stop bit (8N1)
START READ THREAD
Lost Connection!
Lost Connection!
Found
GOT GIMBAL SYSTEM ID: 4
START WRITE THREAD
GIMBAL_STATE_NOT_PRESENT
Request param read: VERSION_X
Request param read: VERSION_Y
Request param read: VERSION_Z
GOT [VERSION_X] 7
GOT [VERSION_Y] 5
GOT [VERSION_Z] 0
Request param read: PITCH_P
Request param read: ROLL_P
Request param read: YAW_P
GOT [ROLL_P] 90
Request param read: PITCH_POWER
GOT [PITCH_POWER] 40
Request param read: ROLL_POWER
GOT [ROLL_POWER] 40
Request param read: YAW_POWER
GOT [YAW_POWER] 40
Request param read: YAW_I
GOT [YAW_I] 3
Request param read: GYRO_LPF
Request param read: PITCH_I
GOT [GYRO_LPF] 2
Request param read: PITCH_FOLLOW
Request param read: YAW_FOLLOW
GOT [PITCH_FOLLOW] 65
Request param read: PITCH_FILTER
Request param read: YAW_FILTER
GOT [YAW_FOLLOW] 87
GOT [PITCH_FILTER] 50
Request param read: TILT_WINDOW
Request param read: PAN_WINDOW
GOT [YAW_FILTER] 50
GOT [TILT_WINDOW] 0
Request param read: RC_PITCH_SPEED
GOT [PAN_WINDOW] 0
Request param read: RC_ROLL_SPEED
Request param read: RC_YAW_SPEED
GOT [RC_PITCH_SPEED] 50
GOT [RC_ROLL_SPEED] 50
Request param read: RC_PITCH_LPF
GOT [RC_YAW_SPEED] 50
Request param read: RC_ROLL_LPF
GOT [RC_PITCH_LPF] 50
Request param read: RC_YAW_LPF
Request param read: JOY_AXIS
GOT [RC_YAW_LPF] 70
Request param read: HEARTBEAT_EMIT
Request param read: STATUS_RATE
GOT [JOY_AXIS] 1
GOT [HEARTBEAT_EMIT] 1
Request param read: ENC_CNT_RATE
Request param read: ENC_TYPE_SEND
GOT [STATUS_RATE] 10
Request param read: ORIEN_RATE
GOT [ENC_TYPE_SEND] 0
Request param read: IMU_RATE
GOT [ORIEN_RATE] 50
GOT [IMU_RATE] 10
Request param read: PITCH_P
Request param read: YAW_P
Request param read: PITCH_I
GOT [PITCH_P] 80
GOT [YAW_P] 100
Request param read: RC_ROLL_LPF
Request param read: ENC_CNT_RATE
GOT [PITCH_I] 120
GOT [ENC_CNT_RATE] 10
Request param read: RC_ROLL_LPF
GOT [RC_ROLL_LPF] 60
Check [VERSION_X] 7
Check [VERSION_Y] 5
Check [VERSION_Z] 0
Check [PITCH_P] 80
Check [ROLL_P] 90
Check [YAW_P] 100
Check [PITCH_POWER] 40
Check [ROLL_POWER] 40
Check [YAW_POWER] 40
Check [YAW_I] 3
Check [GYRO_LPF] 2
Check [PITCH_I] 120
Check [PITCH_FOLLOW] 65
Check [YAW_FOLLOW] 87
Check [PITCH_FILTER] 50
Check [YAW_FILTER] 50
Check [TILT_WINDOW] 0
Check [PAN_WINDOW] 0
Check [RC_PITCH_SPEED] 50
Check [RC_ROLL_SPEED] 50
Check [RC_YAW_SPEED] 50
Check [RC_PITCH_LPF] 50
Check [RC_ROLL_LPF] 60
Check [RC_YAW_LPF] 70
Check [JOY_AXIS] 1
Check [HEARTBEAT_EMIT] 1
Check [STATUS_RATE] 10
Check [ENC_CNT_RATE] 10
Check [ENC_TYPE_SEND] 0
Check [ORIEN_RATE] 50
Check [IMU_RATE] 10
GIMBAL_STATE_PRESENT_RUNNING
READ SOME MESSAGES
Got message gimbal status
Gimbal is operating
Got message RAW IMU.
raw imu: time: 1591149964954814, xacc:20, yacc:-60, zacc:8534, xgyro:1287, xgyro:110, xgyro:124(raw)
Got message Mount orientation.
orientation: time: 2020804268, p:-0.002313, r:0.058161, y:-0.032959 (degree)
Got message Mount status
Encoder Angle: time: 1591149964954833, p:0, r:0, y:0 (Degree)
SETTING TILT: dir 1, speed_follow: 65, speed_control: 50
MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120
TILT stiff 80, hold: 40
ROLL stiff 90, hold: 40
PAN stiff 100, hold: 40
FW Version: 7.5.0.OFFICIAL
READ SOME MESSAGES
Got message gimbal status
Gimbal is operating
Got message RAW IMU.
raw imu: time: 1591149965057013, xacc:103, yacc:-168, zacc:8289, xgyro:502, xgyro:-43, xgyro:-14(raw)
Got message Mount orientation.
orientation: time: 2020874504, p:-0.049958, r:0.079474, y:-0.032959 (degree)
Got message Mount status
Encoder Angle: time: 1591149965057037, p:0, r:0, y:0 (Degree)
SETTING TILT: dir 1, speed_follow: 65, speed_control: 50
MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120
TILT stiff 80, hold: 40
ROLL stiff 90, hold: 40
PAN stiff 100, hold: 40
^C
TERMINATING AT USER REQUEST
CLOSE THREADS
CLOSE PORT
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