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Not compiling under Ubuntu #2

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jeroentaverne opened this issue Oct 15, 2020 · 6 comments
Open

Not compiling under Ubuntu #2

jeroentaverne opened this issue Oct 15, 2020 · 6 comments

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@jeroentaverne
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jeroentaverne commented Oct 15, 2020 •
edited
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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
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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
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Author

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
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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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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

  1. MOTOR CONTROL
  2. AXIS CONFIGURATION
  3. 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
Copy link

ouvina commented Jul 14, 2022

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
Copy link

ouvina commented Jul 18, 2022

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
Copy link

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.

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@ouvina @jeroentaverne @DatNguyenGremsy