> For the complete documentation index, see [llms.txt](https://realtimerobotics.gitbook.io/real-time-robotics/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://realtimerobotics.gitbook.io/real-time-robotics/gimbal/mavlink-message.md). # MAVLink Message ## RTR Gimbal MAVLink Message Real time Robotics H1/H2 Gimbal MAVLink Message Commands ### MAVLink Commands #### [HEARTBEAT](https://mavlink.io/en/messages/minimal.html#HEARTBEAT) - 1Hz Heartbeat mà gimbal trả về. Tần số là 1Hz. | Field Name | Type | Value | Description | | ---------------- | -------------------------- | ----------- | ------------------- | | type | uint8\_t |


|


| | autopilot | uint8\_t |


|


| | base\_mode | charuint8\_t16] |


|


| | custom\_mode | uint32\_t |


|


| | system\_status | uint8\_t |


| System status flag. | | mavlink\_version | uint8\_t\_mavlink\_version |


| MAVLink version | #### [RAW\_IMU](https://mavlink.io/en/messages/common.html#RAW_IMU) - 10Hz Thông tin về raw IMU của gimbal, Tần số là 10Hz. | Field Name | Type | Units | Description | | -------------- | --------- | ----------- | ---------------------------------------------------------------------------------------------------- | | time\_usec | uint64\_t | us | Timestamp | | xacc | int16\_t |


| X acceleration (raw) | | yacc | int16\_t |


| Y acceleration (raw) | | zacc | int16\_t |


| Z acceleration (raw) | | xgyro | int16\_t |


| Angular speed around X axis (raw) | | ygyro | int16\_t |


| Angular speed around Y axis (raw) | | zgyro | int16\_t |


| Angular speed around Z axis (raw) | | xmag | int16\_t |


| X Magnetic field (raw) | | ymag | int16\_t |


| Y Magnetic field (raw) | | zmag | int16\_t |


| Z Magnetic field (raw) | | id ++ | int16\_t |


| Ids are numbered from 0 and map to IMUs numbered from 1 | | temperature ++ | int16\_t | cdegC | Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). | #### [MOUNT\_ORIENTATION](https://mavlink.io/en/messages/common.html#MOUNT_ORIENTATION) - 50Hz Trả về góc tilt, roll, pan của gimbal. Tần số là 50Hz. | Field Name | Type | Value | Description | | ---------------- | --------- | ----- | ----------------------------------- | | time\_boot\_ms | uint32\_t | ms | Timestamp (time since system boot). | | roll | float | deg | Roll in global frame | | pitch | float | deg | Pitch in global frame | | yaw | float | deg | Yaw relative to vehicle | | yaw\_absolute ++ | float | deg | Not used | #### [COMMAND\_LONG](https://mavlink.io/en/messages/common.html#COMMAND_LONG) Gửi các lệnh MAV\_CMD qua gói COMMAND\_LONG. | Field Name | Type | Value | Description | | ----------------- | --------- | ----------- | ------------------------------------------------------------------------ | | target\_system | uint8\_t |


| System which should execute the command | | target\_component | uint8\_t |


| Component which should execute the command, 0 for all components | | command | uint16\_t | MAV\_CMD | Command ID (of command to send). | | confirmation | uint8\_t |


| 0: First transmission of this command. 1-255: Confirmation transmissions | | param1 | float |


| Parameter 1 | | param2 | float |


| Parameter 2 | | param3 | float |


| Parameter 3 | | param4 | float |


| Parameter 4 | | param5 | float |


| Parameter 5 | | param6 | float |


| Parameter 6 | | param7 | float |


| Parameter 7 | #### [COMMAND\_ACK](https://mavlink.io/en/messages/common.html#COMMAND_ACK) Feedback lại status của command. | Field Name | Type | Units | Value | Description | | -------------------- | --------- | ----------- | -------------------------------------------------------------------- | ------------------------------------- | | command | uint16\_t |


| MAV\_CMD | Command ID (of acknowledged command). | | result | uint8\_t |


| [MAV\_RESULT](https://mavlink.io/en/messages/common.html#MAV_RESULT) | Result of command. | | progress ++ | uint8\_t | % | invalid:UINT8\_MAX | Not used | | result\_param2 ++ | int32\_t |


|


| Not used | | target\_system ++ | uint8\_t |


|


| Not used | | target\_component ++ | uint8\_t |


|


| Not used | #### [MAV\_CMD\_DO\_MOUNT\_CONTROL](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_MOUNT_CONTROL) Lệnh dùng để điều khiển pitch, roll, yaw của gimbal. | Param (Label) | Description | Values | Units | | ------------- | ----------------------------- | ----------- | ----------- | | pitch | pitch depending on mount mode |


| deg | | roll | roll depending on mount mode |


| deg | | yaw | yaw depending on mount mode |


| deg | | Altitude | Not used |


|


| | Latitude | Not used |


|


| | Longitude | Not used |


|


| | Mode | Not used |


|


| #### [MAV\_CMD\_USER\_2](https://mavlink.io/en/messages/common.html#MAV_CMD_USER_2) Dùng để chuyển mode của gimbal giữa FOLLOW và LOCK. | Param (Label) | Description | | ------------- | ------------------ | | 1 | Not used | | 2 | Not used | | 3 | Not used | | 4 | Not used | | 5 | Not used | | 6 | Not used | | 7 | 0: LOCK, 1: FOLLOW | #### [PARAM\_SET](https://mavlink.io/en/messages/common.html#PARAM_SET) Dùng để set các param cho việc tuning gimbal: | Field Name | Type | Value | Description | | ----------------- | --------- | ----------- | ---------------------- | | target\_system | uint8\_t |


| System ID | | target\_component | uint8\_t |


| Component ID | | param\_id | char\[16] |


| Gimbal parameter id | | param\_value | float |


| Gimbal parameter value | | param\_type | uint8\_t |


| Not used | Giá trị param\_id và param\_value (range) được mô tả ở bảng phụ lục 1. #### [PARAM\_REQUEST\_READ](https://mavlink.io/en/messages/common.html#PARAM_REQUEST_READ) Dùng để request một param của gimbal | Field Name | Type | Value | Description | | ----------------- | --------- | ----------- | ----------------------- | | target\_system | uint8\_t |


| System ID | | target\_component | uint8\_t |


| Component ID | | param\_id | char\[16] |


| Gimbal parameter id | | param\_index | int16\_t | -1 | Not used, default is -1 | Giá trị param\_id được mô tả như bảng phụ lục 1. #### [PARAM\_REQUEST\_LIST](https://mavlink.io/en/messages/common.html#PARAM_REQUEST_LIST) Request tất cả các param của gimbal cùng lúc theo gói PARAM\_VALUE | Field Name | Type | Value | Description | | ----------------- | -------- | ----------- | ------------ | | target\_system | uint8\_t |


| System ID | | target\_component | uint8\_t |


| Component ID | #### [PARAM\_VALUE](https://mavlink.io/en/messages/common.html#PARAM_VALUE) Giá trị param của gimbal trả về khi gói PARAM\_REQUEST\_READ hoặc PARAM\_REQUEST\_LIST được gửi. | Field Name | Type | Value | Description | | ------------ | --------- | ----------- | ---------------------- | | param\_id | char\[16] |


| Gimbal parameter id | | param\_value | float |


| Gimbal parameter value | | param\_type | uint8\_t | 0 | Not used | | param\_count | uint16\_t | 0 | Not used | | param\_index | uint16\_t | 0 | Not used | ### Appendix Bảng phụ lục 1: param\_id và range của các thông số dùng để tune Gimbal H1, H2: | param\_id | param\_name | range | description | | --------- | ------------------- | ------------ | ------------------------ | | 1 | ROLL\_ACCEL\_MOVING | 10 - 100 | Roll gimbal accel moving | | 2 | ROLL\_ACCEL\_OFFSET | -1000 - 1000 | Roll gimbal accel offset | | 3 | ROLL\_P\_GAIN | 10 - 100 | Roll gimbal P gain | | 4 | ROLL\_I\_GAIN | 10 - 100 | Roll gimbal I gain | | 5 | ROLL\_D\_GAIN | 10 - 100 | Roll gimbal D gain | | 11 | TITL\_ACCEL\_MOVING | 10 - 100 | Tilt gimbal accel moving | | 12 | TILT\_ACCEL\_OFFSET | -1000 - 1000 | Tilt gimbal accel offset | | 13 | TILT\_P\_GAIN | 10 - 100 | Tilt gimbal P gain | | 14 | TILT\_I\_GAIN | 10 - 100 | Tilt gimbal I gain | | 15 | TILT\_D\_GAIN | 10 - 100 | Tilt gimbal D gain | | 21 | PAN\_ACCEL\_MOVING | 10 - 100 | Pan gimbal accel moving | | 22 | PAN\_ACCEL\_OFFSET | -800 - 2800 | Pan gimbal accel offset | | 23 | PAN\_P\_GAIN | 10 - 100 | Pan gimbal P gain | | 24 | PAN\_I\_GAIN | 10 - 100 | Pan gimbal I gain | | 25 | PAN\_D\_GAIN | 10 - 100 | Pan gimbal D gain |