Rohit Sant
63 linhas
1.7 KiB
C++
63 linhas
1.7 KiB
C++
#ifndef CAMERAGIMBALSAMPLE_H
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#define CAMERAGIMBALSAMPLE_H
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#include "timer.h"
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#include <cstdint>
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#include <stdio.h>
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#include <dji_vehicle.hpp>
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#include <dji_gimbal.hpp>
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#include <dji_camera.hpp>
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struct RotationAngle
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{
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DJI::OSDK::float32_t roll;
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DJI::OSDK::float32_t pitch;
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DJI::OSDK::float32_t yaw;
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RotationAngle(DJI::OSDK::float32_t roll = 0, DJI::OSDK::float32_t pitch = 0,
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DJI::OSDK::float32_t yaw = 0)
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: roll(roll)
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, pitch(pitch)
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, yaw(yaw)
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{
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}
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};
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struct GimbalContainer
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{
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DJI::OSDK::float32_t roll;
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DJI::OSDK::float32_t pitch;
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DJI::OSDK::float32_t yaw;
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int duration;
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int isAbsolute;
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bool yaw_cmd_ignore;
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bool pitch_cmd_ignore;
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bool roll_cmd_ignore;
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RotationAngle initialAngle;
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RotationAngle currentAngle;
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GimbalContainer(int roll = 0, int pitch = 0, int yaw = 0, int duration = 0,
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int isAbsolute = 0, bool yaw_cmd_ignore = false,
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bool pitch_cmd_ignore = false, bool roll_cmd_ignore = false,
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RotationAngle initialAngle = RotationAngle(),
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RotationAngle currentAngle = RotationAngle())
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: roll(roll)
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, pitch(pitch)
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, yaw(yaw)
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, duration(duration)
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, isAbsolute(isAbsolute)
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, yaw_cmd_ignore(yaw_cmd_ignore)
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, pitch_cmd_ignore(pitch_cmd_ignore)
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, roll_cmd_ignore(roll_cmd_ignore)
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, initialAngle(initialAngle)
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, currentAngle(currentAngle)
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{
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}
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};
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// Helper functions
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void doSetGimbalAngle(GimbalContainer* gimbal);
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bool gimbalCameraControl();
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void displayResult(RotationAngle* currentAngle);
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#endif // CAMERAGIMBALSAMPLE_H
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