Gimbal Configuration Protocol

The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

Commands to Configure and Control Gimbal

The two main commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL.

Another possible control command would be MAV_CMD_DO_MOUNT_CONTROL_QUAT. This command does not seem to be implemented by any systems at time of writing.

Command to Reboot or Shutdown Gimbal

To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

This is the same message/process as for autopilot systems.

Telemetry from Gimbal

A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other AVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

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