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mavros_msgs/srv/MountConfigure.srv

@@ -3,19 +3,25 @@
 
 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
+uint8 mode              # See enum MAV_MOUNT_MODE.
+#MAV_MOUNT_MODE
+uint8 MODE_RETRACT = 0
+uint8 MODE_NEUTRAL = 1
+uint8 MODE_MAVLINK_TARGETING = 2
+uint8 MODE_RC_TARGETING = 3
+uint8 MODE_GPS_POINT = 4
 
-bool stabilize_roll # stabilize roll? (1 = yes, 0 = no)
-bool stabilize_pitch # stabilize pitch? (1 = yes, 0 = no)
-bool stabilize_yaw # stabilize yaw? (1 = yes, 0 = no)
-uint8 roll_input # roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
-uint8 pitch_input # pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
-uint8 yaw_input # yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
+bool stabilize_roll     # stabilize roll? (1 = yes, 0 = no)
+bool stabilize_pitch    # stabilize pitch? (1 = yes, 0 = no)
+bool stabilize_yaw      # stabilize yaw? (1 = yes, 0 = no)
+uint8 roll_input        # roll input (See enum MOUNT_INPUT)
+uint8 pitch_input       # pitch input (See enum MOUNT_INPUT)
+uint8 yaw_input         # yaw input (See enum MOUNT_INPUT)
+
+#MOUNT_INPUT
+uint8 INPUT_ANGLE_BODY_FRAME = 0
+uint8 INPUT_ANGULAR_RATE = 1
+uint8 INPUT_ANGLE_ABSOLUTE_FRAME = 2
 ---
 bool success
 # raw result returned by COMMAND_ACK