12. Drone Gimbal¶

The iris model (iris_demo) spawned has access to a one axis pitch only gimbal which can be controlled by giving an absolute angle (in radians). The source code for this gimbal is in the ProjectStarling repository.

12.1 Using the gimbal¶

The gimbal is controlled using a single Publisher/Subscriber pair

• /<Vehicle_id>/gimbal_tilt_cmd (std_msgs/msg/Float32): Subscriber takes a topic {"data: 0.5"} and moves the gimbal to 0.5 radians down from the horizontal. There exists an onboard P controller to do this.
• /<vehicle_id>/gimbal_tilt_status (std_msgs/msg/Float32): Publisher which publishes the radian angle of the gimbal