Vasily Evseenko

yes, it moves singularity to roll +- 90 degrees. But for gimbal nonzero roll is not used. > Wouldn't this be a problem? This just moves the singularity from a...

3-1-2 is used only for output in gimbal v1 protocol, because most of gimbals doesn't support v2 (with quaternion inside). The problem is that px4 gimbal service got input in...

In QGC by default there are only pitch and yaw controls for gimbal (gimbal up, down, left, right). In case of two-axis gimbal you can usually only control pitch. Roll...

anyway for them there are no difference with 3-1-2 and 3-2-1 because of absence of roll axis. > > In case of two-axis gimbal you can usually only control pitch....

@dagar Is it possible to merge?

`jstest` shows that single event was generated. Also there are two additional buttons that exists in jstest, but unavailable in QGC. It is L2 and R2 buttons (https://manuals.playstation.net/document/en/ps4/basic/pn_controller.html)

The following quaternion `0.405580 -0.579228 -0.405580 -0.579228` translates to `nan 0.000000 0.000000` euler angles instead of `-90 0 -110` in `void OutputBase::_calculate_angle_output(const hrt_abstime &t)`

It seems that problem is that px4 use ROLL - PITCH - YAW for gimbal instead of PITCH - ROLL - YAW euler rotations. Any ideas how to fix it?

 For gimbal unlimited pitch is more practical that unlimited roll because vehicle flight mostly horizontally and roll angle < 90 degrees

But because there are no opensource gimbals, transition to gimbal protocol v2 is not possible. For example STorm32 supports only gimbal v1 protocol.