Hi,
This is a followup to this thread. I still get very weird behaviour from the gimbal and I can’t seem to understand why. My questions are summarized as follows:
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The measurements from the relative gimbal angles give constant values to the values I have set them to. So when I set them to (roll, pitch, yaw) = (0, -90, 0) (looking down), those values are all I ever get out of the roll_relative, pitch_relative, and yaw_relative fields when using get_state() with the gimbal attitude message. This is even though I can visibly see the gimbal adjusting itself whenever I roll or pitch. Why is this the case? I really need the relative angles in order to calculate the transformation between the camera frame and the body frame, so this would be nice to get some insight on.
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When instead inspecting the absolute angles, I get at least something that varies as I roll and pitch the drone, and these measurements sometimes seem to be the measurements I was expecting from the relative angles. It should be noted that I am flying inside without GPS coverage in case this affects anything with the absolute frame of reference. These angles only work when pitch is adjusting around 0 however, as when I look straight down as above the roll measurement jumps between 0 and +/- 90 deg whenever it starts rolling right or left. Is there anything I am missing with the absolute frame of reference here?
It would be great if anyone could provide some input on this!
Thanks in advance for any answers:)