input.cpp

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/**
 * @file input.cpp
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "input.h"


namespace vmount
{

int InputBase::update(unsigned int timeout_ms, ControlData **control_data, bool already_active)
{
    if (!_initialized) {
        int ret = initialize();

        if (ret) {
            return ret;
        }

        //on startup, set the mount to a neutral position
        _control_data.type = ControlData::Type::Neutral;
        _control_data.gimbal_shutter_retract = true;
        *control_data = &_control_data;
        _initialized = true;
        return 0;
    }

    return update_impl(timeout_ms, control_data, already_active);
}

void InputBase::control_data_set_lon_lat(double lon, double lat, float altitude, float roll_angle,
        float pitch_fixed_angle)
{
    _control_data.type = ControlData::Type::LonLat;
    _control_data.type_data.lonlat.lon = lon;
    _control_data.type_data.lonlat.lat = lat;
    _control_data.type_data.lonlat.altitude = altitude;
    _control_data.type_data.lonlat.roll_angle = roll_angle;
    _control_data.type_data.lonlat.pitch_fixed_angle = pitch_fixed_angle;
    _control_data.type_data.lonlat.pitch_angle_offset = 0.f;
    _control_data.type_data.lonlat.yaw_angle_offset = 0.f;
}

} /* namespace vmount */