Caddx GM3 and acceleration compensation

[kasatka60]

Is it possible to implement the transmission of FC inertial navigation data and acceleration compensation via INAV serial gimbal control?

[mmosca]

It may be possible, if you use mavlink as the control protocol. but it is not currently implemented in inav.

[kasatka60]

I wouldn't like to use the Mavlink protocol.

[kasatka60]

typedef struct gimbalHtkAttitudePkt_s
{
	uint8_t  sync[2];       //data synchronization 0xA5, 0x5A
	uint8_t mode:3;        //Gimbal Mode [0~7] [Only 0 1 2 modes are supported for the time being]
	int16_t  sensibility:5; // Stabilization sensibility [-16~15]
	uint8_t reserved:4;    //hold on to one's reserve
	int32_t  roll:12;       //Roll angle [-2048~2047] => [-180~180]
	int32_t  tilt:12;       //Pich angle [-2048~2047] => [-180~180]
	int32_t  pan:12;        //Yaw angle [-2048~2047] => [-180~180]
	uint8_t  crch;          //Data validation H
	uint8_t  crcl;          //Data validation L
} __attribute__((packed)) gimbalHtkAttitudePkt_t;

Add additional parameters to this structure:
attitude.values.roll
attitude.values.pitch
attitude.values.yaw
And ask the caddx developers to add support for these parameters.