pygimbal

Pygimbal is an open source software developed in Python, designed for controlling gimbals using the Mavlink protocol. It allows users to control the gimbal's tilt, pan, and roll angles, as well as retrieve real-time angle values.

Install

pip install pygimbal

Getting Started

How to control gimbal via Mavlink with Python:

Note: you need to give permission to gimbal uart port first.

sudo chmod a+wrx /dev/ttyUSB0

Sample code:

import time
from pygimbal import control
from threading import Thread

master_gimbal = control.init_mav_connector('/dev/ttyUSB0', 1, 154, 115200)
system = master_gimbal.source_system
component = master_gimbal.source_component

maintain_connection_threading = Thread(target=control.maintain_connection, args=[master_gimbal], daemon=True)
maintain_connection_threading.start()

orientation_theading = Thread(target=control.get_orientation, args=[master_gimbal], daemon=True)
orientation_theading.start()

while True:
    try:
        control.control_gimbal(master_gimbal, system, component, tilt=45, roll=0, pan=45)
        time.sleep(2)
        control.control_gimbal(master_gimbal, system, component, tilt=0, roll=0, pan=0)
        time.sleep(2)
        control.control_gimbal(master_gimbal, system, component, tilt=45, roll=0, pan=-45)
        time.sleep(2)
        control.control_gimbal(master_gimbal, system, component, tilt=0, roll=0, pan=0)
        time.sleep(2)
    except KeyboardInterrupt:
        break

Output:

[ACTION]: Mavlink is connecting to /dev/ttyUSB0
[MESSAGE]: Successful Connection to /dev/ttyUSB0 1 154
[Control] Gimbal Pitch - Yaw 45 45
[ORIENTATION] Til, Pan, Roll:  0.1949998289346695 0.02197265625 0.023102451115846634
[ORIENTATION] Til, Pan, Roll:  0.19493775069713593 0.02197265625 0.02414652332663536
[ORIENTATION] Til, Pan, Roll:  0.19543787837028503 0.02197265625 0.02471373975276947
[ORIENTATION] Til, Pan, Roll:  0.19867371022701263 0.02197265625 0.0238236952573061

Result:

Author

github: winter2897
mail: [email protected]