Have heading always pointed at a ROI (region of interest)


I have a PixHawk quad with a camera on a pitch gimbal. I’m trying to keep the camera pointed at a given location (lat-lon-alt, or x-y-z) during flight. This means pitch would be controlled by the gimbal, and yaw controlled by the quad’s heading. I haven’t been able to do this with the latest PX4 stable (00334ad7).

So far, I’ve been able to:

  • Set the ROI using mavlink’s MAV_CMD_DO_SET_ROI
  • Control the pitch angle of the gimbal (using mount.aux.mix & vmount)

But there seems to be no way to control the vehicle’s heading from the ROI. The docs (https://dev.px4.io/advanced-gimbal-control.html) only describe how to control the various axes of a gimbal.

How could this be made to work?

Thanks, Patrick

Maybe the vmount devs would know something? @bkueng @thedevleon