From c25c79b8cd6406c688f0ddf45a3983ce5c87d47f Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Thu, 1 Sep 2016 11:42:39 +0200
Subject: [PATCH] Doc

---
 msg/LQPtuCommandData.msg | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/msg/LQPtuCommandData.msg b/msg/LQPtuCommandData.msg
index 96db462..07360f7 100644
--- a/msg/LQPtuCommandData.msg
+++ b/msg/LQPtuCommandData.msg
@@ -1,5 +1,19 @@
 # pan, tilt, roll values in degrees
-float64 pan
-float64 tilt
-float64 roll
-int32 mode 
+#
+# mode=1, body relative
+#
+# mode=0:
+# pan behaves as in mode 1
+# tilt is relative forward direction in the horisontal plane
+# roll similar as for tilt
+#
+
+int32 MODE_PTU_STABILIZED=0
+int32 MODE_PTU_NON_STABILIZED=1
+
+int32 mode       # mode value deciding the meaning of pan, tilt, roll
+
+float64 pan      # -90 - 90, mode=1, positive clockwise
+float64 tilt     # -55 - 5, mode=1, positive up
+float64 roll     # -30 - 30, mode=1, vector out, positive clockwise
+
-- 
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