mount_control

• File: mavros_extras/src/plugins/mount_control.cpp
• Class: mavros::extra_plugins::MountControlPlugin
• Namespace: mount_control
• Brief: Mount Control plugin

Publishes Mission commands to control the camera or antenna mount. @see command_cb()

Publishers

• ~/orientation (geometry_msgs::msg::Quaternion)
• ~/status (geometry_msgs::msg::Vector3Stamped)

Subscribers

• ~/command (mavros_msgs::msg::MountControl)

Services

• ~/configure (mavros_msgs::srv::MountConfigure)

Clients

• cmd/command (mavros_msgs::srv::CommandLong)

Parameters

• negate_measured_roll [type: bool, default: false]
• negate_measured_pitch [type: bool, default: false]
• negate_measured_yaw [type: bool, default: false]
• debounce_s [type: double, default: 4.0]
• err_threshold_deg [type: double, default: 10.0]
• disable_diag [type: bool, default: false]

MAVLink Subscriptions

• MOUNT_ORIENTATION [handler: handle_mount_orientation, dialect: common, msg_id: 265, id: mavlink::common::msg::MOUNT_ORIENTATION::MSG_ID]
• MOUNT_STATUS [handler: handle_mount_status, dialect: ardupilotmega, msg_id: 158, id: mavlink::ardupilotmega::msg::MOUNT_STATUS::MSG_ID]

MAVLink Publications

• COMMAND_LONG [arg: cmd, dialect: common, msg_id: 76, id: mavlink::common::msg::COMMAND_LONG::MSG_ID]