This is a simple MAVLink to UART interface example for *nix systems that can allow communication between Gremsy's Gimbal and an Onboard computer.
This example will receive one MAVLink message and send one MAVLink message.
$ cd gSDK_Linux/
$ make
Connect the COM2 cable to your Onboard Computer.
The hardware connection between an GIMBAL T3 and a PC or Linux machine. Note that:
The recommended choice of USB to TTL cable is FT232 module.
Refer to: gSDK Documentation
An FTDI cable will show up on a ttyUSB*.
Run the example executable on the host shell:
You have to pick a port name, try searching for it with
$ ls /dev/ttyACM*
$ ls /dev/ttyUSB*
Run the example executable on the host shell:
$ cd gSDK/
$ ./gSDK -d /dev/ttyUSB0
To stop the program, use the key sequence Ctrl-C.
Here's an example output:
$ ./gSDK -d /dev/ttyUSB1
OPEN PORT
Connected to /dev/ttyUSB1 with 115200 baud, 8 data bits, no parity, 1 stop bit (8N1)
START READ THREAD
Found
GOT GIMBAL SYSTEM ID: 20
START WRITE THREAD
READ SOME MESSAGES
Got message gimbal status
Gimbal is running in FOLLOW mode!
Got message ATT
att : time: 715054317 p:-0.072667 r:-0.127920 y:-0.623558 (degree)
Got message Mount orientation
orientation : time: 715084382 p:0.108494 r:-0.135546 y:0.087891 (degree)
Got message Mount status
mnt : time: 1566010215715390 p:5072 r:19408 y:16 (cnt)
READ SOME MESSAGES
Got message gimbal status
Gimbal is running in FOLLOW mode!
Got message ATT
att : time: 715054317 p:-0.072667 r:-0.127920 y:-0.623558 (degree)
Got message Mount orientation
orientation : time: 715084382 p:0.108494 r:-0.135546 y:0.087891 (degree)
Got message Mount status
mnt : time: 1566010215715390 p:5072 r:19408 y:16 (cnt)
^C
TERMINATING AT USER REQUEST
CLOSE THREADS
CLOSE PORT