Hi @wangxuyang,
Thanks very much for the report.
So you’re saying that MAV_CMD_DO_MOUNT_CONTROL has been replaced by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW but could you clarify a few things:
Which version of ArduPilot are you using? I’d recommend using 4.5.x which is the stable version. Another alternative is to use 4.6 which has started beta testing.
I guess you’re perhaps writing gimbal software that accepts mavlink messages? If “yes” then I think it would be good to set the MNT_TYPE (or MNT1_TYPE) to be “6” (Gremsy). See wiki page here.
By the way, I’m very keen to improve ArduPilot’s camera and gimbal support and I’m working with a number of manufacturers to ensure AP works well with them. If you’re working at a gimbal company I’m readily available to talk about details on Discord, skype or email (rmackay9 @ yahoo.com)