How to move the Anafi Thermal camera

[Razr]

Hi.

I’m currently building an application that allows the user to take a thermal photo and control the drone, however, I want to be able to move the camera on all the axis available. I saw at the camera documentation and found nothing, so I tried using gimbal but even though the camera moves it doesn’t really work properly as my camera can turn almost 180 degrees and the max gimbal value it accepts is 5 and it moves the camera on all axis.

self.drone(start_offsets_update(gimbal_id=0))
self.drone(set_offsets(gimbal_id=0, yaw=-10, pitch=-10, roll=-10))
self.drone(stop_offsets_update(gimbal_id=0))

This is how I’m trying to move the camera. I’ve tried value by value on each argument but I can’t understand how it works. I’m also doing a camera calibration as soon as I connect to the drone as well, just in case it’s needed.

[teiszler]

Hi @Razr ,

This is the function we use to control the gimbal on Anafi drones. You need to issue a set_target call on the gimbal, and then wait on the attitude call until it succeeds in rotating the gimbal the desired amount.

def setGimbalPose(self, yaw_theta, pitch_theta, roll_theta):
    # The Anafi does not support yaw or roll on its gimbal, thus these
    # parameters are discarded without effect.
    self.drone(set_target(
        gimbal_id=0,
        control_mode="position",
        yaw_frame_of_reference="none",
        yaw=yaw_theta,
        pitch_frame_of_reference="absolute",
        pitch=pitch_theta,
        roll_frame_of_reference="none",
        roll=roll_theta,
    )
    >> attitude(pitch_absolute=pitch_theta, _policy="wait", _float_tol=(1e-3, 1e-1))).wait().success()