Can't make gimbal rotation around the yaw axis work

[Neil]

Strange. While this code is working:

       resp = self.drone(gimbal.set_target(
            gimbal_id=0,
            control_mode="position",
            yaw_frame_of_reference="none",
            yaw=0.0,
            pitch_frame_of_reference="relative",
            pitch=angle_deg,
            roll_frame_of_reference="none",
            roll=0.0,
            _timeout=5
        )).wait()
        print(resp.explain())

…and pitching the camera up and down according to angle_deg, I can’t make the same working in order to achieve a rotation on yaw:

        resp = self.drone(gimbal.set_target(
            gimbal_id=0,
            control_mode="position",
            yaw_frame_of_reference="relative",
            yaw=30.0,
            pitch_frame_of_reference="none",
            pitch=0.0,
            roll_frame_of_reference="none",
            roll=0.0,
            _timeout=5
        )).wait()
        print(resp.explain())

The resp is in both cases gimbal.set_target has been sent and acknowledged., just nothing happens to the camera.

What am I missing?

[Neil]

Rotation around roll works fine, btw, using a similar pattern. Maybe I have a yaw-lock?

Dumb question: Is the Anafi 4k even able to rotate around yaw? I recall there where some means to read the properties.

[Neil]

Well, I guess the problem sits between keyboard and chair over here

Ignore please.

[ClementLeBihan]

Hi @Neil,

As @Ronan said here :

Change gimbal bounds with Olympe

Hello, On Anafi Ai the gimbal will always be locked for a ground control station (Olympe, GroundSDK, etc…). You can listen to the lock value to know when an axis can be controlled: https://developer.parrot.com/docs/olympe/arsdkng_gimbal.html?highlight=bounds#olympe.messages.gimbal.axis_lock_state Also bounds for the yaw in ABSOLUTE frame of reference are +/-180 degrees because the drone and gimbal are linked together. The only way to manage the yaw of the gimbal is to use AirSDK and write a …

The only way to manage the yaw of the gimbal is to use AirSDK and write a specific guidance mode.

Best,
Clément

[ndessart]

@ClementLeBihan

Hi @Neil,

As @Ronan said here :

Hello, On Anafi Ai the gimbal will always be locked for a ground control station (Olympe, GroundSDK, etc…). You can listen to the lock value to know when an axis can be controlled: Gimbal feature - 7.7 Also bounds for the yaw in ABSOLUTE frame of reference are +/-180 degrees because the drone and gimbal are linked together. The only way to manage the yaw of the gimbal is to use AirSDK and write a …

The only way to manage the yaw of the gimbal is to use AirSDK and write a specific guidance mode.

Please note that AirSDK is available for ANAFI Ai (and not for ANAFI / ANAFI Thermal / Anafi USA).
Only ANAFI AI has a 3 axis mecanical gimbal. ANAFI / ANAFI Thermal / Anafi USA only has a 2 axis gimbal.

[ClementLeBihan]

@ndessart

Please note that AirSDK is ava

My bad !

[Neil]

Thanks for the confirmation. Should have checked physical constraints before bothering.