SIYI A2mini - Page 27

A2 mini User Manual V1.1
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ACK data format
int16_t
yaw
Yaw axis degree
int16_t
pitch
Pitch axis degree
int16_t
roll
Roll axis degree
int16_t
yaw_velocity
Yaw axis rotation speed
int16_t
pitch_velocity
Pitch axis rotation speed
int16_t
roll_velocity
Roll axis rotation speed
Mark
1. The above data to be divided by 10 is the actual degree, accuracy in one decimal place.
2. Under this command A2 mini can only acquire pitch attitude.
Set Gimbal Control Angle
CMD_ID:0x0E------Set Gimbal Control Angle
Send data format
No.
Data Type
Data Name
Description
int16_t
yaw
Target yaw angle
int16_t
pitch
Target pitch angle
ACK data format
int16_t
yaw
Current yaw angle
int16_t
pitch
Current pitch angle
int16_t
roll
Current roll angle
Angle Control Range
Yaw:
 A8 mini: -135.0 ~ 135.0 degree
 A2 mini: Not available
 ZR10 / ZR30: Same with A8 mini
 ZT30: Limitless
Pitch
 A8 mini: -90.0 ~ 25.0 degree
 A2 mini / ZR10 / ZR30 / ZT30: Same with A8 mini
Mark:
1. The accuracy of the control angle is in one decimal place. Eg: Set yaw as 60.5 degrees, the command
number should be set as 605.
2. The actual angle data returned to be divided by 10 is the actual degree, accuracy in one decimal place.
Acquire Camera Image Type
CMD_ID:0x10------Acquire Camera Image Type
Send data format
No.
Data Type
Data Name
Description
ACK data format
1
uint8_t
vdisp_mode
Camera Image Mode: