'Unsupported'; origin: set_pitch_rate_and_yaw_rate(); params: (10, 0)" IN VERSION 1.3.0

[MalikMuneebAhmad]

I am running make px4_sitl gazebo_typhoon_h480. To control the gimbal, I am running gimbal.py from MAVSDK-Python but following error occured "raise GimbalError(result, "set_pitch_rate_and_yaw_rate()", pitch_rate_deg_s, yaw_rate_deg_s) mavsdk.gimbal.GimbalError: UNSUPPORTED: 'Unsupported'; origin: set_pitch_rate_and_yaw_rate(); params: (10, 0)"

[JonasVautherin]

Does SITL support the gimbal messages? Sounds like it answers "UNSUPPORTED" here, right?

[julianoes]

What's the PX4 version?

[MalikMuneebAhmad]

I have installed it from source.

[MalikMuneebAhmad]

Details: M Tools/sitl_gazebo M launch/posix_sitl.launch Your branch is up to date with 'origin/master'.

[julianoes]

I see, master, ok. I'll try to reproduce it.

[julianoes]

And what's the last / top commit when you do git log?

[julianoes]

@MalikMuneebAhmad I tested this and for me it just works.

Can you also type gimbal status into the pxh> to check the output please?

For me, after running the script, it is:

pxh> gimbal status
INFO  [gimbal] Input Selected
INFO  [gimbal] Input: Mavlink (Gimbal V2)
INFO  [gimbal] Input not selected
INFO  [gimbal] Input: Test
  roll :   0 deg
  pitch:   0 deg
  yaw  :   0 deg
INFO  [gimbal] Output: MAVLink gimbal protocol v2
  quaternion: [1.0 0.0 0.0 0.0]
  angular velocity: [nan nan nan]

[MalikMuneebAhmad]

Output of git log is

Author: Daniel Agar daniel@agar.ca Date: Sat Jun 4 15:58:56 2022 -0400

Update submodule GPSDrivers to latest Sat Jun  4 12:38:49 UTC 2022 (#19766)

    - GPSDrivers in PX4/Firmware (6e77a084cd43830c8b13018b7fd5470da9bc4ff5): https://github.com/PX4/PX4-GPSDrivers/commit/181fae1a4b5e33576d786755782adb2f195ecc48
    - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/016c37cd1f18c716427e2465d8daa6aa1054b0f1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/181fae1a4b5e33576d786755782adb2f195ecc48...016c37cd1f18c716427e2465d8daa6aa1054b0f1

    016c37c 2022-06-01 Julian Oes - sbf: fix overrun on i

[MalikMuneebAhmad]

gimbal status is

pxh> gimbal status INFO [gimbal] Input Selected INFO [gimbal] Input not selected INFO [gimbal] Input: Test roll : 0 deg pitch: 0 deg yaw : 0 deg INFO [gimbal] Input: Mavlink (CMD_MOUNT) INFO [gimbal] Output: MAVLink gimbal protocol v1

[MalikMuneebAhmad]

After running gimbal test yaw 30 gimbal status is changing but drone gimbal is still not changing.

INFO [gimbal] Input Selected INFO [gimbal] Input not selected INFO [gimbal] Input: Test roll : 0 deg pitch: 0 deg yaw : 30 deg

[julianoes]

Ok, so the first step is to get the gimbal working with the test command. What sort of gimbal is it and how is it connected?

You can use the param MNT_MODE_OUT to set the protocol between autopilot and gimbal.

Edit: actually, you said you're trying this against the Gazebo model. This model supports gimbal v2, so you should set it to v2 (MNT_MODE_OUT to 2). I'm not sure why it's set to 1 for you, that's wrong.

[MalikMuneebAhmad]

Thank for your continuous replies. I have set the MNT_MODE_OUT and its value is Symbols: x = used, + = saved, * = unsaved x MNT_MODE_OUT [431,941] : 2 but gimbal status is still showing v1 INFO [gimbal] Input: Mavlink (CMD_MOUNT) INFO [gimbal] Output: MAVLink gimbal protocol v1

[MalikMuneebAhmad]

Ooops! I do not know what has just happened. I have restarted mavros and launches my gazebo model and it is showing v2 INFO [gimbal] Input: Mavlink (CMD_MOUNT) INFO [gimbal] Output: MAVLink gimbal protocol v2 quaternion: [nan nan nan nan] angular velocity: [nan nan nan] And now test command gimbal test yaw 30 is also working

[julianoes]

Nice, so first step done. Now what about trying the gimbal.py example again?

[MalikMuneebAhmad]

I have commented the lines drone.gimbal.set_pitch_rate_and_yaw_rate(10, 0) in gimble.py and it is working and gimble is operating accordingly. But how can we change the pitch and yaw rate.?

[julianoes]

So you want to set pitch angle and yaw rate?

What about first setting pitch and yaw: and then just set yaw rate (and leave pitch rate at 0) ?