Can's seem to rotate Gimbal in SDK

[petered]

I'm trying to rotate the gimbal in the DJI SDK 5.12

As an experiment, I'm just trying to do a -20deg pitch, -30deg yaw over 0.5 sec.

My code for doing it is

    suspend fun rotateGimbal(rotation: GimbalAngleRotation) = suspendCoroutine<Result<Boolean>> { continuation ->
        val actualKey = KeyTools.createKey(co_y.KeyRotateByAngle)
        djiKeyManager.setValue(actualKey, rotation, object : CommonCallbacks.CompletionCallback {
            override fun onSuccess() {
                log("Gimbal rotation set successfully to ${rotation.toJson()}")
                continuation.resume(Result.success(true))
            }

            override fun onFailure(error: IDJIError) {
                log("Failed to set gimbal rotation:  ${error}: ${error.description()}.  Rotation: ${rotation.toJson()}")
                continuation.resume(Result.failure(Exception("Failed to set gimbal rotation: ${error}: ${error.description()}")))
            }
        })
    }

It always fails. The log is:

Failed to set gimbal rotation:  ErrorImp{errorType='CORE', errorCode='REQUEST_HANDLER_NOT_FOUND', innerCode='GIMBAL.RotateByAngle:-1', description='null', hint='error code = -1'}: null.  
Rotation: {"mode":0,"pitch":-20,"roll":0,"yaw":-30,"pitchIgnored":false,"rollIgnored":false,"yawIgnored":false,"duration":0.5,"jointReferenceUsed":false,"timeout":1000}

Does anyone have an idea of what I might be doing wrong here?

[dji-dev]

Agent comment from SHENRONG.LE in Zendesk ticket #126550:

Dear developers,
Hello, thank you for contacting DJI Innovation.

As shown in the screenshot, did you pass in exactly the right parameters to achieve the Angle change? I need to pass in all the parameters.

Thank you for your email and have a nice life!
Best Regards,
Dji innovation SDK technical support
image.png

°°°

[petered]

Thank you for your response.

Unfortunately I am not able to see your screenshot (even when I log in)

[brien-crean]

@petered I've had success pitching the gimbal with these parameters using the KEY.create().action() syntax. Although I haven't actually tried yawing it.

fun rotateGimbal() {
    val gimbalRotation = GimbalAngleRotation()
    gimbalRotation.pitch = -20.0
    gimbalRotation.yaw = -30.0
    gimbalRotation.mode = GimbalAngleRotationMode.ABSOLUTE_ANGLE
    gimbalRotation.duration = 0.5

    GimbalKey.KeyRotateByAngle.create()
        .action(gimbalRotation, {}, { djiError ->
            Log.e("GIMBAL_PITCH_ERROR", "KeyRotateByAngle Error: $djiError")
        })
}

[petered]

Bingo! Thank you @brien-crean . Turned out I had 2 things wrong:

1. I wasn't using the .action syntax as you showed
2. The command gets ignored if the yaw or pitch are out of the possible range (which in this case was true for -30deg yaw while the drone was not flying).

Notes

• RELATIVE_ANGLE does work - but the command will be ignored if the requested angle is not possible.
• If the drone is flying, it will use it's body to achieve the yaw rather than the gimbal (ie - gimbal's yaw will stay at zero and the drone's body will rotate instead)