dji_gimbal.hpp

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#ifndef GIMBAL_H
#define GIMBAL_H

#include "dji_command.hpp"
#include "dji_type.hpp"

namespace DJI
{
namespace OSDK
{

// Forward Declaration
class Vehicle;

class Gimbal
{
public:
#pragma pack(1)

  typedef struct AngleData
  {
    int16_t yaw;   
    int16_t roll;  
    int16_t pitch; 
    // clang-format off
    // clang-format on
    uint8_t mode;
    uint8_t duration; 
  } AngleData;        // pack(1)

  typedef struct SpeedData
  {
    int16_t yaw;  
    int16_t roll; 
    int16_t
            pitch; 
    uint8_t reserved0                 : 1;
    uint8_t reserved1                 : 1;
    uint8_t extend_control_range      : 1; 
    uint8_t disable_fov_zoom          : 1; 
    uint8_t ignore_aircraft_motion    : 1; 
    uint8_t yaw_return_neutral        : 1; 
    uint8_t ignore_user_stick         : 1; 
    uint8_t gimbal_control_authority  : 1; 
  } SpeedData;        // pack(1)
#pragma pack()
public:
  Gimbal(Vehicle* vehicle);
  ~Gimbal();

public:
  void setAngle(Gimbal::AngleData* data);

  void setSpeed(Gimbal::SpeedData* data);

private:
  Vehicle* vehicle;
};

} // OSDK
} // DJI

#endif // GIMBAL_H