Not compiling under Ubuntu

jeroentaverne commented 4 years ago

g++ -I mavlink/include/mavlink/v2.0 mavlink_control.cpp serial_port.cpp gimbal_interface.cpp -o gSDK -lpthread In file included from mavlink_control.h:48:0, from mavlink_control.cpp:32: gimbal_interface.h:737:2: error: ‘constexpr’ does not name a type constexpr static const char alpha = "ALPHA"; ^ gimbal_interface.h:737:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:738:2: error: ‘constexpr’ does not name a type constexpr static const char beta = "BETA"; ^ gimbal_interface.h:738:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:739:2: error: ‘constexpr’ does not name a type constexpr static const char preview = "PREVIEW"; ^ gimbal_interface.h:739:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:740:2: error: ‘constexpr’ does not name a type constexpr static const char official = "OFFICIAL"; ^ gimbal_interface.h:740:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:764:41: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 const uint32_t _time_lost_connection = 60000000; ^ gimbal_interface.h:765:34: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 const uint32_t _retry_period = 100; //100ms ^ gimbal_interface.h:766:39: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 const uint8_t _max_fetch_attempts = 5; // times ^ gimbal_interface.h:833:2: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 }; ^ gimbal_interface.h:833:2: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 gimbal_interface.h: In member function ‘fw_version_t Gimbal_Interface::get_gimbal_version()’: gimbal_interface.h:567:20: error: ‘class Gimbal_Interface’ has no member named ‘alpha’ fw.type = this->alpha; ^ gimbal_interface.h:571:20: error: ‘class Gimbal_Interface’ has no member named ‘beta’ fw.type = this->beta; ^ gimbal_interface.h:575:20: error: ‘class Gimbal_Interface’ has no member named ‘preview’ fw.type = this->preview; ^ gimbal_interface.h:579:20: error: ‘class Gimbal_Interface’ has no member named ‘official’ fw.type = this->official; ^ mavlink_control.cpp: In function ‘void gGimbal_control_sample(Gimbal_Interface&)’: mavlink_control.cpp:336:49: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 config = {DIR_CCW, 50, 50, 65, 50, 0}; ^ mavlink_control.cpp:336:20: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 config = {DIR_CCW, 50, 50, 65, 50, 0}; ^ mavlink_control.cpp:339:46: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 config = {DIR_CW, 50, 60, 0, 0, 0}; ^ mavlink_control.cpp:339:20: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 config = {DIR_CW, 50, 60, 0, 0, 0}; ^ mavlink_control.cpp:342:48: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 config = {DIR_CW, 50, 70, 87, 50, 0}; ^ mavlink_control.cpp:342:20: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 config = {DIR_CW, 50, 70, 87, 50, 0}; ^ In file included from gimbal_interface.cpp:32:0: gimbal_interface.h:737:2: error: ‘constexpr’ does not name a type constexpr static const char alpha = "ALPHA"; ^ gimbal_interface.h:737:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:738:2: error: ‘constexpr’ does not name a type constexpr static const char beta = "BETA"; ^ gimbal_interface.h:738:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:739:2: error: ‘constexpr’ does not name a type constexpr static const char preview = "PREVIEW"; ^ gimbal_interface.h:739:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:740:2: error: ‘constexpr’ does not name a type constexpr static const char official = "OFFICIAL"; ^ gimbal_interface.h:740:2: note: C++11 ‘constexpr’ only available with -std=c++11 or -std=gnu++11 gimbal_interface.h:764:41: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 const uint32_t _time_lost_connection = 60000000; ^ gimbal_interface.h:765:34: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 const uint32_t _retry_period = 100; //100ms ^ gimbal_interface.h:766:39: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 const uint8_t _max_fetch_attempts = 5; // times ^ gimbal_interface.h:833:2: warning: non-static data member initializers only available with -std=c++11 or -std=gnu++11 }; ^ gimbal_interface.h:833:2: warning: extended initializer lists only available with -std=c++11 or -std=gnu++11 gimbal_interface.h: In member function ‘fw_version_t Gimbal_Interface::get_gimbal_version()’: gimbal_interface.h:567:20: error: ‘class Gimbal_Interface’ has no member named ‘alpha’ fw.type = this->alpha; ^ gimbal_interface.h:571:20: error: ‘class Gimbal_Interface’ has no member named ‘beta’ fw.type = this->beta; ^ gimbal_interface.h:575:20: error: ‘class Gimbal_Interface’ has no member named ‘preview’ fw.type = this->preview; ^ gimbal_interface.h:579:20: error: ‘class Gimbal_Interface’ has no member named ‘official’ fw.type = this->official; ^ makefile:4: recipe for target 'mavlink_control' failed make: *** [mavlink_control] Error 1

jeroentaverne commented 4 years ago

After removing the alpha, beta, preview and official references the code compiles. I get data from gimbal, but it's never moving. It even said that firmware version is not OK. After fixing this, also no moving of gimbal. Please fix this SDK!

jeroentaverne commented 4 years ago

g++ (Ubuntu 5.4.0-6ubuntu1~16.04.12) 5.4.0 20160609 Copyright (C) 2015 Free Software Foundation, Inc. This is free software; see the source for copying conditions. There is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

jeroentaverne commented 4 years ago

OPEN PORT Connected to /dev/ttyUSB0 with 115200 baud, 8 data bits, no parity, 1 stop bit (8N1)

START READ THREAD

Found

GOT GIMBAL SYSTEM ID: 68 START WRITE THREAD

HB: 0 GIMBAL_STATE_NOT_PRESENT HB: 210142263 Request param read: VERSION_X Request param read: VERSION_Y Request param read: VERSION_Z Request param read: PITCH_P Request param read: ROLL_P Request param read: YAW_P Request param read: PITCH_POWER Request param read: ROLL_POWER Request param read: YAW_POWER Request param read: YAW_I Request param read: GYRO_LPF Request param read: PITCH_I Request param read: PITCH_FOLLOW Request param read: YAW_FOLLOW Request param read: PITCH_FILTER Request param read: YAW_FILTER Request param read: TILT_WINDOW Request param read: PAN_WINDOW Request param read: RC_PITCH_SPEED Request param read: RC_ROLL_SPEED Request param read: RC_YAW_SPEED Request param read: RC_PITCH_LPF Request param read: RC_ROLL_LPF Request param read: RC_YAW_LPF Request param read: JOY_AXIS Request param read: HEARTBEAT_EMIT Request param read: STATUS_RATE Request param read: ENC_CNT_RATE Request param read: ENC_TYPE_SEND Request param read: ORIEN_RATE Request param read: IMU_RATE HB: -1 GOT [VERSION_Y] 5 GOT [PITCH_P] 80 GOT [YAW_P] 100 GOT [PITCH_POWER] 40 GOT [ROLL_POWER] 40 GOT [GYRO_LPF] 2 GOT [PITCH_I] 120 GOT [YAW_FILTER] 50 GOT [TILT_WINDOW] 0 GOT [PAN_WINDOW] 0 GOT [RC_ROLL_SPEED] 50 GOT [RC_YAW_SPEED] 50 GOT [RC_PITCH_LPF] 50 GOT [RC_ROLL_LPF] 60 GOT [JOY_AXIS] 1 GOT [STATUS_RATE] 10 GOT [ENC_CNT_RATE] 10 GOT [ORIEN_RATE] 50 GOT [IMU_RATE] 10 HB: 451683800 HB: 541539526 HB: 596095463 Request param read: VERSION_X Request param read: VERSION_Z Request param read: ROLL_P Request param read: YAW_POWER Request param read: YAW_I Request param read: PITCH_FOLLOW Request param read: YAW_FOLLOW Request param read: PITCH_FILTER Request param read: RC_PITCH_SPEED Request param read: RC_YAW_LPF Request param read: HEARTBEAT_EMIT Request param read: ENC_TYPE_SEND GOT [VERSION_Z] 6 GOT [YAW_POWER] 40 GOT [YAW_I] 3 GOT [YAW_FOLLOW] 87 GOT [RC_PITCH_SPEED] 50 GOT [HEARTBEAT_EMIT] 1 GOT [ENC_TYPE_SEND] 0 HB: 999999 Request param read: VERSION_X Request param read: ROLL_P Request param read: PITCH_FOLLOW Request param read: PITCH_FILTER Request param read: RC_YAW_LPF GOT [ROLL_P] 90 GOT [PITCH_FILTER] 50 HB: 266990264 HB: 481317499 HB: 638633975 HB: 673042416 Request param read: VERSION_X Request param read: PITCH_FOLLOW Request param read: RC_YAW_LPF HB: 740459158 Request param read: VERSION_X Request param read: PITCH_FOLLOW Request param read: RC_YAW_LPF GOT [RC_YAW_LPF] 70 HB: 258186263 Request param read: VERSION_X Request param read: PITCH_FOLLOW Gimbal parameter VERSION_X timed out Gimbal parameter PITCH_FOLLOW timed out Check [VERSION_X] 0 Check [VERSION_Y] 5 Check [VERSION_Z] 6 Check [PITCH_P] 80 Check [ROLL_P] 90 Check [YAW_P] 100 Check [PITCH_POWER] 40 Check [ROLL_POWER] 40 Check [YAW_POWER] 40 Check [YAW_I] 3 Check [GYRO_LPF] 2 Check [PITCH_I] 120 Check [PITCH_FOLLOW] 0 Check [YAW_FOLLOW] 87 Check [PITCH_FILTER] 50 Check [YAW_FILTER] 50 Check [TILT_WINDOW] 0 Check [PAN_WINDOW] 0 Check [RC_PITCH_SPEED] 50 Check [RC_ROLL_SPEED] 50 Check [RC_YAW_SPEED] 50 Check [RC_PITCH_LPF] 50 Check [RC_ROLL_LPF] 60 Check [RC_YAW_LPF] 70 Check [JOY_AXIS] 1 Check [HEARTBEAT_EMIT] 1 Check [STATUS_RATE] 10 Check [ENC_CNT_RATE] 10 Check [ENC_TYPE_SEND] 0 Check [ORIEN_RATE] 50 Check [IMU_RATE] 10 GOT [PITCH_FOLLOW] 65 Gimbal parameter VERSION_X timed out GIMBAL_STATE_PRESENT_RUNNING HB: 0 HB: 278904309 HB: 327134157 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763827375312, xacc:38, yacc:-76, zacc:8163, xgyro:-860, xgyro:21, xgyro:-34(raw) Got message Mount orientation. orientation: time: 2291612370, p:-0.197285, r:0.023402, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763827380274, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763827481513, xacc:23, yacc:201, zacc:8122, xgyro:-770, xgyro:13, xgyro:8(raw) Got message Mount orientation. orientation: time: 2291713402, p:-0.130819, r:0.023305, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763827486479, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 620816364 Gimbal parameter VERSION_X timed out HB: 723561750 HB: 758502587 HB: 791779394 HB: 818993075 HB: 852328864 HB: 884711401 HB: 900393143 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763827895149, xacc:-10, yacc:-287, zacc:8162, xgyro:-138, xgyro:17, xgyro:-5(raw) Got message Mount orientation. orientation: time: 2292124415, p:-0.069447, r:0.020708, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763827895177, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763827989342, xacc:46, yacc:-132, zacc:8174, xgyro:284, xgyro:20, xgyro:52(raw) Got message Mount orientation. orientation: time: 2292221772, p:-0.093471, r:0.022275, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763827994302, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763828395337, xacc:11, yacc:68, zacc:8108, xgyro:499, xgyro:16, xgyro:-5(raw) Got message Mount orientation. orientation: time: 2292602389, p:-0.057478, r:0.018442, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763828400336, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763828497496, xacc:62, yacc:129, zacc:8141, xgyro:70, xgyro:18, xgyro:36(raw) Got message Mount orientation. orientation: time: 2292704432, p:-0.070136, r:0.020752, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763828502319, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 680650255 Gimbal parameter VERSION_X timed out HB: 753582790 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763828903334, xacc:6, yacc:-333, zacc:8170, xgyro:-810, xgyro:18, xgyro:-14(raw) Got message Mount orientation. orientation: time: 2293114434, p:-0.087615, r:0.018060, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763828907318, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763829005357, xacc:50, yacc:-48, zacc:8204, xgyro:-630, xgyro:3, xgyro:39(raw) Got message Mount orientation. orientation: time: 2293216432, p:-0.100649, r:0.019907, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763828907318, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 101144546 HB: 150534359 Gimbal parameter VERSION_X timed out HB: 201122725 HB: 229375298 HB: 257833831 HB: 290832397 HB: 323202121 HB: 355257879 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763829313362, xacc:69, yacc:201, zacc:8137, xgyro:-591, xgyro:14, xgyro:25(raw) Got message Mount orientation. orientation: time: 2293602434, p:-0.147250, r:0.022962, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763829318327, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763829416334, xacc:0, yacc:-32, zacc:8103, xgyro:-331, xgyro:12, xgyro:-8(raw) Got message Mount orientation. orientation: time: 2293703467, p:-0.093732, r:0.019989, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763829420637, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

Gimbal parameter VERSION_X timed out HB: 766205082 HB: 847655195 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763829825371, xacc:29, yacc:-80, zacc:8198, xgyro:677, xgyro:24, xgyro:45(raw) Got message Mount orientation. orientation: time: 2294113425, p:-0.057354, r:0.022556, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763829830337, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION HB: 899997721 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763829927398, xacc:44, yacc:-129, zacc:8150, xgyro:961, xgyro:1, xgyro:100(raw) Got message Mount orientation. orientation: time: 2294214470, p:-0.088143, r:0.019835, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763829931738, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 19712190 HB: 34700769 HB: 66933581 Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763830343361, xacc:-2, yacc:66, zacc:8088, xgyro:-301, xgyro:11, xgyro:-7(raw) Got message Mount orientation. orientation: time: 2677580757, p:-0.216176, r:0.023765, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763830348377, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763830445371, xacc:96, yacc:141, zacc:8172, xgyro:405, xgyro:19, xgyro:70(raw) Got message Mount orientation. orientation: time: 2294702458, p:-0.196825, r:0.019088, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763830449579, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 586761977 HB: 599228006 Gimbal parameter VERSION_X timed out HB: 726703997 HB: 758533745 HB: 787661385 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763830850396, xacc:-13, yacc:-212, zacc:8163, xgyro:-60, xgyro:7, xgyro:38(raw) Got message Mount orientation. orientation: time: 2295108444, p:-0.102626, r:0.022316, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763830855518, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763830952381, xacc:33, yacc:-9, zacc:8135, xgyro:-471, xgyro:10, xgyro:-42(raw) Got message Mount orientation. orientation: time: 2295209500, p:-0.158749, r:0.022355, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763830956391, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 167240288 HB: 187789725 Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763831362378, xacc:1, yacc:-73, zacc:8175, xgyro:-827, xgyro:10, xgyro:-7(raw) Got message Mount orientation. orientation: time: 2295619496, p:-0.195066, r:0.023119, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763831367371, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763831463750, xacc:10, yacc:-228, zacc:8169, xgyro:-978, xgyro:34, xgyro:-94(raw) Got message Mount orientation. orientation: time: 2295721484, p:-0.231573, r:0.020085, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763831468397, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 535271597 HB: 568991360 HB: 600536518 HB: 632312973 HB: 664528053 Gimbal parameter VERSION_X timed out HB: 729956935 HB: 759421366 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763831869391, xacc:-20, yacc:-116, zacc:8142, xgyro:546, xgyro:19, xgyro:53(raw) Got message Mount orientation. orientation: time: 2296101503, p:-0.169449, r:0.017544, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763831874382, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION HB: 902190019 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763831970597, xacc:53, yacc:0, zacc:8110, xgyro:917, xgyro:10, xgyro:54(raw) Got message Mount orientation. orientation: time: 2296202676, p:-0.215024, r:0.018281, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763831975782, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 146440179 HB: 190040764 Gimbal parameter VERSION_X timed out HB: 248532254 HB: 278635087 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763832376425, xacc:15, yacc:-62, zacc:8187, xgyro:-523, xgyro:10, xgyro:-53(raw) Got message Mount orientation. orientation: time: 2296608487, p:-0.228318, r:0.017605, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763832380412, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763832477773, xacc:-2, yacc:-302, zacc:8161, xgyro:-917, xgyro:17, xgyro:-8(raw) Got message Mount orientation. orientation: time: 2296709687, p:-0.181921, r:0.019224, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763832482449, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763832887455, xacc:56, yacc:162, zacc:8101, xgyro:-639, xgyro:20, xgyro:-13(raw) Got message Mount orientation. orientation: time: 2297120494, p:-0.087673, r:0.017139, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763832892577, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763832989436, xacc:39, yacc:17, zacc:8135, xgyro:-356, xgyro:16, xgyro:2(raw) Got message Mount orientation. orientation: time: 2297221522, p:-0.097920, r:0.019950, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763832993457, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

Gimbal parameter VERSION_X timed out HB: 255186652 HB: 308149648 HB: 350915396 HB: 383704460 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763833395430, xacc:23, yacc:-133, zacc:8149, xgyro:819, xgyro:16, xgyro:51(raw) Got message Mount orientation. orientation: time: 2297608228, p:-0.101877, r:0.018990, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763833400475, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION HB: 400835234 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763833497452, xacc:19, yacc:-70, zacc:8119, xgyro:580, xgyro:18, xgyro:-4(raw) Got message Mount orientation. orientation: time: 2297704530, p:-0.105374, r:0.015122, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763833502469, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 520955463 Gimbal parameter VERSION_X timed out HB: 747676427 HB: 778128801 HB: 810952743 HB: 841654644 HB: 875353693 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763833806429, xacc:82, yacc:127, zacc:8150, xgyro:706, xgyro:14, xgyro:12(raw) Got message Mount orientation. orientation: time: 2298114551, p:-0.119196, r:0.018827, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763833810493, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION HB: 906816997 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763833915182, xacc:5, yacc:108, zacc:8116, xgyro:225, xgyro:20, xgyro:16(raw) Got message Mount orientation. orientation: time: 2298215554, p:-0.135941, r:0.017145, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763833915219, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 22670721 HB: 37742509 HB: 113355291 Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763834322484, xacc:33, yacc:-250, zacc:8175, xgyro:950, xgyro:3, xgyro:128(raw) Got message Mount orientation. orientation: time: 2298605540, p:-0.270667, r:0.018628, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763834327477, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763834424474, xacc:16, yacc:-130, zacc:8171, xgyro:748, xgyro:10, xgyro:49(raw) Got message Mount orientation. orientation: time: 2298707558, p:-0.287284, r:0.015437, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763834428510, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 695743485 Gimbal parameter VERSION_X timed out HB: 821673259 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763834835145, xacc:8, yacc:-18, zacc:8104, xgyro:-957, xgyro:21, xgyro:-28(raw) Got message Mount orientation. orientation: time: 2299112586, p:-0.148635, r:0.017284, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763834835177, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763834931492, xacc:59, yacc:46, zacc:8156, xgyro:-930, xgyro:29, xgyro:-76(raw) Got message Mount orientation. orientation: time: 2299214598, p:-0.112431, r:0.015156, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763834936520, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

Gimbal parameter VERSION_X timed out HB: 247531361 HB: 263234114 HB: 278870524 HB: 308905263 HB: 343900827 HB: 372677035 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763835341492, xacc:64, yacc:-108, zacc:8198, xgyro:-528, xgyro:4, xgyro:23(raw) Got message Mount orientation. orientation: time: 2299604249, p:-0.266857, r:0.014826, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763835351164, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION HB: 406129115 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763835443508, xacc:-5, yacc:-257, zacc:8134, xgyro:-55, xgyro:20, xgyro:-25(raw) Got message Mount orientation. orientation: time: 2299700593, p:-0.238379, r:0.016869, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763835448519, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 521149204 HB: 680304651 Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763835848489, xacc:75, yacc:65, zacc:8169, xgyro:605, xgyro:12, xgyro:5(raw) Got message Mount orientation. orientation: time: 2300105616, p:-0.107847, r:0.014456, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763835853508, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763835949724, xacc:21, yacc:-16, zacc:8160, xgyro:163, xgyro:4, xgyro:46(raw) Got message Mount orientation. orientation: time: 2300207598, p:-0.112257, r:0.016710, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763835954702, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 20821406 HB: 200318907 Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763836365499, xacc:-16, yacc:-150, zacc:8141, xgyro:901, xgyro:7, xgyro:40(raw) Got message Mount orientation. orientation: time: 2300622759, p:-0.188957, r:0.015572, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763836369514, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763836467534, xacc:36, yacc:-19, zacc:8120, xgyro:949, xgyro:1, xgyro:99(raw) Got message Mount orientation. orientation: time: 2300724619, p:-0.159766, r:0.016101, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763836472518, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 656037916 HB: 700587582 Gimbal parameter VERSION_X timed out HB: 754281547 HB: 786328591 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763836877537, xacc:28, yacc:-17, zacc:8121, xgyro:606, xgyro:13, xgyro:4(raw) Got message Mount orientation. orientation: time: 2301109602, p:-0.289727, r:0.017230, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763836881550, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763836978716, xacc:36, yacc:65, zacc:8147, xgyro:160, xgyro:15, xgyro:43(raw) Got message Mount orientation. orientation: time: 2301210811, p:-0.285964, r:0.019595, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763836983538, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 19601791 HB: 67664330 Gimbal parameter VERSION_X timed out HB: 253014106 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763837389560, xacc:6, yacc:-133, zacc:8144, xgyro:-146, xgyro:9, xgyro:15(raw) Got message Mount orientation. orientation: time: 2301621644, p:-0.265897, r:0.014005, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763837394523, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763837490559, xacc:62, yacc:1, zacc:8121, xgyro:-793, xgyro:15, xgyro:4(raw) Got message Mount orientation. orientation: time: 2301722816, p:-0.194003, r:0.015092, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763837495551, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 518785436 HB: 565549458 Gimbal parameter VERSION_X timed out HB: 811193790 HB: 839778486 HB: 899142575 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763837907126, xacc:32, yacc:-187, zacc:8173, xgyro:-985, xgyro:25, xgyro:-91(raw) Got message Mount orientation. orientation: time: 2302107639, p:-0.230392, r:0.016912, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763837907158, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763838002618, xacc:-4, yacc:-275, zacc:8173, xgyro:-791, xgyro:27, xgyro:-12(raw) Got message Mount orientation. orientation: time: 2302209654, p:-0.259865, r:0.012470, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763838007566, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

Gimbal parameter VERSION_X timed out READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602764145546042, xacc:-39, yacc:-190, zacc:8113, xgyro:486, xgyro:16, xgyro:68(raw) Got message Mount orientation. orientation: time: 2302615662, p:-0.160305, r:0.019806, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763838311562, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763838408777, xacc:54, yacc:-66, zacc:8155, xgyro:914, xgyro:-8, xgyro:67(raw) Got message Mount orientation. orientation: time: 2302716843, p:-0.114630, r:0.014782, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763838413570, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 537690315 HB: 597988767 HB: 620672731 HB: 635085074 Gimbal parameter VERSION_X timed out HB: 826310671 READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763838814558, xacc:42, yacc:-85, zacc:8178, xgyro:-593, xgyro:6, xgyro:-37(raw) Got message Mount orientation. orientation: time: 2303121666, p:-0.167803, r:0.014978, y:0.054932 (degree) Got message Mount status Encoder Angle: time: 1602763838818726, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

FW Version: 0.5.6.1�I��^H��H��PTI��Н@ DO NOT SUPPORT FUNCTIONS. Please check the firmware version

MOTOR CONTROL
AXIS CONFIGURATION
MAVLINK MSG RATE CONFIGURATION READ SOME MESSAGES

Got message gimbal status Gimbal is operating Got message RAW IMU. raw imu: time: 1602763838915589, xacc:-7, yacc:-216, zacc:8142, xgyro:-941, xgyro:19, xgyro:-7(raw) Got message Mount orientation. orientation: time: 2303223689, p:-0.222424, r:0.014512, y:-0.032959 (degree) Got message Mount status Encoder Angle: time: 1602763838919591, p:1, r:1, y:0 (Degree) SETTING TILT: dir 1, speed_follow: 65, speed_control: 50 MOTOR_CONTROL: GYRO: 2, OUT 3, GAIN 120 TILT stiff 80, hold: 40 ROLL stiff 90, hold: 40 PAN stiff 100, hold: 40

HB: 21710931 ^C TERMINATING AT USER REQUEST

CLOSE THREADS HB: 37475239

CLOSE PORT

ouvina commented 2 years ago

Same errors here...

Consolidate compiler generated dependencies of target gSDK
[ 12%] Building CXX object CMakeFiles/gSDK.dir/mavlink_control.cpp.o
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.cpp:32:
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.h:46:
In file included from /Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/ardupilotmega/mavlink.h:32:
In file included from /Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/ardupilotmega/ardupilotmega.h:30:
In file included from /Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/ardupilotmega/../protocol.h:75:
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:247:25: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
                               ^~~~~~~~~~~~~
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:248:29: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_accumulate(crc_extra, &msg->checksum);
                                   ^~~~~~~~~~~~~
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:471:12: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_init(&msg->checksum);
                  ^~~~~~~~~~~~~
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:476:21: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_accumulate(c, &msg->checksum);
                           ^~~~~~~~~~~~~
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.cpp:32:
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.h:48:
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:756:2: error: unknown type name 'constexpr'
        constexpr static const char* alpha              = "ALPHA";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:757:2: error: unknown type name 'constexpr'
        constexpr static const char* beta               = "BETA";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:758:2: error: unknown type name 'constexpr'
        constexpr static const char* preview            = "PREVIEW";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:759:2: error: unknown type name 'constexpr'
        constexpr static const char* official           = "OFFICIAL";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:780:39: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        const uint32_t  _time_lost_connection = 60000000;
                                              ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:781:32: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        const uint32_t  _retry_period   = 100;  //100ms
                                        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:782:37: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        const uint8_t   _max_fetch_attempts = 5; // times
                                            ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:794:44: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        } _params_list[GIMBAL_NUM_TRACKED_PARAMS] = {
                                                  ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:336:22: error: expected expression
            config = {DIR_CCW, 50, 50, 65, 50, 0};
                     ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:339:22: error: expected expression
            config = {DIR_CW, 50, 60, 0, 0, 0};
                     ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:342:22: error: expected expression
            config = {DIR_CW, 50, 70, 87, 50, 0};
                     ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:298:12: warning: enumeration value 'STATE_DONE' not handled
      in switch [-Wswitch]
    switch(sdk.state)
           ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:298:12: note: add missing switch cases
    switch(sdk.state)

ouvina commented 2 years ago

Same errors here...

Consolidate compiler generated dependencies of target gSDK
[ 12%] Building CXX object CMakeFiles/gSDK.dir/mavlink_control.cpp.o
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.cpp:32:
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.h:46:
In file included from /Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/ardupilotmega/mavlink.h:32:
In file included from /Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/ardupilotmega/ardupilotmega.h:30:
In file included from /Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/ardupilotmega/../protocol.h:75:
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:247:25: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
                               ^~~~~~~~~~~~~
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:248:29: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_accumulate(crc_extra, &msg->checksum);
                                   ^~~~~~~~~~~~~
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:471:12: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_init(&msg->checksum);
                  ^~~~~~~~~~~~~
/Users/ricardoouvina/git/gSDK/src/mavlink/include/mavlink/v2.0/mavlink_helpers.h:476:21: warning: taking
      address of packed member 'checksum' of class or structure '__mavlink_message' may result in an
      unaligned pointer value [-Waddress-of-packed-member]
        crc_accumulate(c, &msg->checksum);
                           ^~~~~~~~~~~~~
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.cpp:32:
In file included from /Users/ricardoouvina/git/gSDK/mavlink_control.h:48:
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:756:2: error: unknown type name 'constexpr'
        constexpr static const char* alpha              = "ALPHA";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:757:2: error: unknown type name 'constexpr'
        constexpr static const char* beta               = "BETA";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:758:2: error: unknown type name 'constexpr'
        constexpr static const char* preview            = "PREVIEW";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:759:2: error: unknown type name 'constexpr'
        constexpr static const char* official           = "OFFICIAL";
        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:780:39: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        const uint32_t  _time_lost_connection = 60000000;
                                              ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:781:32: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        const uint32_t  _retry_period   = 100;  //100ms
                                        ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:782:37: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        const uint8_t   _max_fetch_attempts = 5; // times
                                            ^
/Users/ricardoouvina/git/gSDK/src/gimbal_interface.h:794:44: warning: in-class initialization of non-static
      data member is a C++11 extension [-Wc++11-extensions]
        } _params_list[GIMBAL_NUM_TRACKED_PARAMS] = {
                                                  ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:336:22: error: expected expression
            config = {DIR_CCW, 50, 50, 65, 50, 0};
                     ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:339:22: error: expected expression
            config = {DIR_CW, 50, 60, 0, 0, 0};
                     ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:342:22: error: expected expression
            config = {DIR_CW, 50, 70, 87, 50, 0};
                     ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:298:12: warning: enumeration value 'STATE_DONE' not handled
      in switch [-Wswitch]
    switch(sdk.state)
           ^
/Users/ricardoouvina/git/gSDK/mavlink_control.cpp:298:12: note: add missing switch cases
    switch(sdk.state)

This solved for me:

$ cmake .. -DCMAKE_INSTALL_PREFIX:PATH=/usr/local -DCMAKE_INSTALL_SYSCONFDIR:PATH=/etc -DCMAKE_MACOSX_RPATH=true -DCMAKE_CXX_FLAGS="-std=c++11"

DatNguyenGremsy commented 4 months ago

This error occurs because you are using C++ source code without enabling the C++11 or gnu++11 standard during compilation. You need to modify the Makefile to add the -std=c++11 option to CXXFLAGS or CFLAGS. Also, make sure you have the required compilers available.

Gremsy / gSDK

Not compiling under Ubuntu #2