Define new MountControl.msg

mavros_msgs/CMakeLists.txt

@@ -31,6 +31,7 @@ add_message_files(
   LogEntry.msg
   ManualControl.msg
   Mavlink.msg
+  MountControl.msg
   OpticalFlowRad.msg
   OverrideRCIn.msg
   Param.msg

mavros_msgs/msg/MountControl.msg

@@ -0,0 +1,16 @@
+# MAVLink message: DO_MOUNT_CONTROL
+# https://mavlink.io/en/messages/common.html#DO_MOUNT_CONTROL
+
+std_msgs/Header header
+
+uint8 mode # See enum MAV_MOUNT_MODE.
+uint8 MAV_MOUNT_MODE_RETRACT = 0
+uint8 MAV_MOUNT_MODE_NEUTRAL = 1
+uint8 MAV_MOUNT_MODE_MAVLINK_TARGETING = 2
+uint8 MAV_MOUNT_MODE_RC_TARGETING = 3
+uint8 MAV_MOUNT_MODE_GPS_POINT = 4
+
+float32[3] rollpitchyaw # degrees or degrees/second depending on pitch input.
+float32 altitude  # altitude depending on mount mode.
+float32 lattitude # latitude in degrees * 1E7, set if appropriate mount mode.
+float32 longitude # longitude in degrees * 1E7, set if appropriate mount mode.