Merge pull request #279 from bbworld1/master

Add gimbal example

Author: JonasVautherin

examples/gimbal.py

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+
+import asyncio
+from mavsdk import System
+from mavsdk.gimbal import GimbalMode
+
+async def run():
+    # Init the drone
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+
+    # Start printing gimbal position updates
+    asyncio.ensure_future(print_gimbal_position(drone))
+
+    # Arm and takeoff the drone
+    await drone.action.arm()
+    await drone.action.takeoff()
+
+    # Set the gimbal to YAW_LOCK (= 1) mode (see docs for the difference)
+    # Other valid values: YAW_FOLLOW (= 0)
+    # YAW_LOCK will fix the gimbal pointing to an absolute direction,
+    # whereas YAW_FOLLOW will point relative to vehicle heading.
+    print("Setting gimbal mode")
+    await drone.gimbal.set_mode(GimbalMode.YAW_LOCK)
+    await asyncio.sleep(5)
+
+    # Move the gimbal to point at pitch -40 degrees, yaw 30 degrees
+    print("Setting pitch & yaw")
+    await drone.gimbal.set_pitch_and_yaw(-40, 30)
+    await asyncio.sleep(10)
+
+
+    # Set the gimbal to track a region of interest (lat, lon, altitude)
+    # Units are degrees and meters MSL respectively
+    print("Setting RoI")
+    await drone.gimbal.set_roi_location(28.452386, -13.867138, 28.5)
+    await asyncio.sleep(10)
+
+    await drone.action.land()
+    await asyncio.sleep(5)
+
+
+
+async def print_gimbal_position(drone):
+    # Report gimbal position updates asynchronously
+    # Note that we are getting gimbal position updates in
+    # euler angles; we can also get them as quaternions
+    async for position in drone.telemetry.camera_attitude_euler():
+        print(position)
+
+
+if __name__ == "__main__":
+    # Start the main function
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(run())