common.h

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/**
 * @file common.h
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#pragma once

#include <stdint.h>


namespace vmount
{


/**
 * @struct ControlData
 * This defines the common API between an input and an output of the vmount driver.
 * Each output must support the (full) set of the commands, and an input can create all
 * or a subset of the types.
 */
struct ControlData {

    enum class Type : uint8_t {
        Neutral = 0,      /**< move to neutral position */
        Angle,            /**< control the roll, pitch & yaw angle directly */
        LonLat            /**< control via lon, lat */
        //TODO: add more, like smooth curve, ... ?
    };

    Type type = Type::Neutral;

    union TypeData {
        struct TypeAngle {
            float angles[3];              /**< attitude angles (roll, pitch, yaw) in rad, [-pi, +pi] if is_speed[i] == false */

            bool is_speed[3];        /**< if true, the angle is the angular speed in rad/s */
        } angle;

        struct TypeLonLat {
            double lon;              /**< longitude in [deg] */
            double lat;              /**< latitude in [deg] */
            float altitude;          /**< altitude in [m] */
            float roll_angle;        /**< roll is set to a fixed angle. Set to 0 for level horizon [rad] */
            float pitch_angle_offset; /**< angular offset for pitch [rad] */
            float yaw_angle_offset;  /**< angular offset for yaw [rad] */
            float pitch_fixed_angle; /**< ignored if < -pi, otherwise use a fixed pitch angle instead of the altitude */
        } lonlat;
    } type_data;


    bool stabilize_axis[3] = { false, false, false }; /**< whether the vmount driver should stabilize an axis
                                         (if the output supports it, this can also be done externally) */

    bool gimbal_shutter_retract = false; /**< whether to lock the gimbal (only in RC output mode) */

};


} /* namespace vmount */