use gimbal plugin's gibal_list and attitude function, the gimbal_id is not match.

[jdx200512]

use gimbal plugin's gibal_list and attitude function, the gimbal_id is not match.
I try to control camera gimbal through mavsdk-server and mavsdk-python.
the system only has one gimbal, gimbal_list return gimbal_id is 1, but somtimes I can not control this gimbal with gimbal_id:1.
I get retsult from attitude the gimbal_id is 3, and I can control the gimbal with gimbal_id:3.
this situation occurrs sometimes.

mavsdk_server version: 3.6.0

mavsdk-python version: 3.6.0

PX4 version: 1.15.4

[julianoes]

What sort of gimbal is this and how is it connected and set up?

[jdx200512]

What sort of gimbal is this and how is it connected and set up?

gimbal sort: SIYI A8mini
uart telem2

MNT_MODE_IN and OUT both with MAVlink gimbal protocol v2

[julianoes]

Can you get the same logs with env variable MAVSDK_GIMBAL_DEBUGGING=1? I'm not quite sure what is going on.

Also, what SIYI gimbal version is this?

[jdx200512]

Can you get the same logs with env variable MAVSDK_GIMBAL_DEBUGGING=1? I'm not quite sure what is going on.

Also, what SIYI gimbal version is this?

mavsdk_gimbal_debug.log

the version of SIYI gimbal as follow

[julianoes]

Thanks!

Can you get the full output of the gimbal list?

My guess is that there is one message sent by the gimbal device (SIYI) and one by PX4, but I'm not 100% sure.

I have this gimbal on my desk, so I will have to try to reproduce this tomorrow.

[jdx200512]

Thanks!

Can you get the full output of the gimbal list?

My guess is that there is one message sent by the gimbal device (SIYI) and one by PX4, but I'm not 100% sure.

I have this gimbal on my desk, so I will have to try to reproduce this tomorrow.

The full output of gimbal list is only gimbal_id with 1, can not get other gimbal id with gimbal_list.

[julianoes]

Hmm, but you get the attitude from 3? Do you also get the attitude from 1? This is confusing ...

[jdx200512]

Hmm, but you get the attitude from 3? Do you also get the attitude from 1? This is confusing ...

No, I can not get attitude from 1, when I try get attitude from 1 with get_attitude, the result is all Nan

[julianoes]

I have this gimbal on my desk, so I will have to try to reproduce this tomorrow.

Didn't get to it today. Hopefully tomorrow.

[julianoes]

Ok, I'm just trying to reproduce this. I'm using gimbal version 0.3.8 at the moment.

I can control the gimbal from the PX4 MAVLink shell, using e.g. gimbal test pitch -45.

The gimbal example fails with:

cmake --build build && build/gimbal/gimbal serial:///dev/serial/by-id/usb-Auterion_PX4_FMU_v6C.x_0-if00:921600
ninja: no work to do.
[08:18:31|Info ] MAVSDK version: v3.8.0 (mavsdk_impl.cpp:32)
[08:18:31|Debug] New system ID: 1 Comp ID: 1 (mavsdk_impl.cpp:950)
[08:18:31|Debug] Component Autopilot (1) added. (system_impl.cpp:473)
[08:18:31|Debug] Component Gimbal (154) added. (system_impl.cpp:473)
[08:18:31|Warn ] Vehicle type changed (new type: 2, old type: 0) (system_impl.cpp:313)
[08:18:31|Debug] Discovered 2 component(s) (system_impl.cpp:591)
[08:18:31|Debug] MAVLink: critical: Preflight Fail: Yaw estimate error (system_impl.cpp:339)
[08:18:32|Debug] MAVLink: info: GCS connection regained	 (system_impl.cpp:339)
[08:18:33|Warn ] sending again after 0.50008 s, retries to do: 1  (512). (mavlink_command_sender.cpp:336)
[08:18:33|Warn ] Request was for msg ID: 283 (mavlink_command_sender.cpp:342)
[08:18:33|Warn ] Retrying failed for REQUEST_MESSAGE command for message: 283, to (1/154) (mavlink_command_sender.cpp:375)
[08:18:34|Warn ] sending again after 0.501303 s, retries to do: 1  (512). (mavlink_command_sender.cpp:336)
[08:18:34|Warn ] Request was for msg ID: 283 (mavlink_command_sender.cpp:342)
Could not find a gimbal, exiting...

Message 283 is GIMBAL_DEVICE_INFORMATION.

Usually I would have expected it to work even without GIMBAL_DEVICE_INFORMATION available, but here we are...

Let me try to upgrade to v0.3.9 next.

[julianoes]

I updated the SIYI gimbal to v0.4.3, however, it still didn't send GIMBAL_DEVICE_INFORMATION.

Then I realized I had to enable forwarding for MAV_1_FORWARD which is connected to the gimbal.

However, I still don't receive GIMBAL_DEVICE_INFORMATION:

[08:36:25|Info ] MAVSDK version: v3.8.0 (mavsdk_impl.cpp:32)
[08:36:25|Debug] New system ID: 1 Comp ID: 1 (mavsdk_impl.cpp:950)
[08:36:25|Debug] Component Autopilot (1) added. (system_impl.cpp:473)
[08:36:25|Debug] Component Gimbal (154) added. (system_impl.cpp:473)
[08:36:25|Debug] Component Camera 1 (100) added. (system_impl.cpp:473)
[08:36:25|Warn ] Vehicle type changed (new type: 2, old type: 0) (system_impl.cpp:313)
[08:36:25|Debug] Discovered 3 component(s) (system_impl.cpp:591)
[08:36:26|Warn ] sending again after 0.509352 s, retries to do: 1  (512). (mavlink_command_sender.cpp:336)
[08:36:26|Warn ] Request was for msg ID: 280 (mavlink_command_sender.cpp:342)
[08:36:26|Warn ] Retrying failed for REQUEST_MESSAGE command for message: 280, to (1/154) (mavlink_command_sender.cpp:375)
[08:36:27|Warn ] sending again after 0.500037 s, retries to do: 1  (512). (mavlink_command_sender.cpp:336)
[08:36:27|Warn ] Request was for msg ID: 280 (mavlink_command_sender.cpp:342)
[08:36:27|Warn ] Retrying failed for REQUEST_MESSAGE command for message: 280, to (1/154) (mavlink_command_sender.cpp:375)
[08:36:28|Warn ] sending again after 0.503566 s, retries to do: 1  (512). (mavlink_command_sender.cpp:336)
[08:36:28|Warn ] Request was for msg ID: 280 (mavlink_command_sender.cpp:342)
Could not find a gimbal, exiting...

How did you get that to work?

[julianoes]

I just found this related thread which looks similar:
https://discuss.px4.io/t/siyi-a8-mini-with-mavsdk/40439

[julianoes]

Ah, if I comment out the discovery it seems to actually do something, so it's half functional.

I should probably make it so that the GIMBAL_DEVICE_INFORMATION is not required.

Edit: done in #2624.

[julianoes]

I don't see anything from gimbal ID 3, not sure how I should be reproducing it.

[jdx200512]

How did you get that to work?

I can get gimbal_device_information

does there other param that affect?