common.h

/****************************************************************************
*
*   Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
*    notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
*    notice, this list of conditions and the following disclaimer in
*    the documentation and/or other materials provided with the
*    distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
*    used to endorse or promote products derived from this software
*    without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/

#pragma once

#include <stdint.h>


namespace vmount
{


struct ControlData {

    enum class Type : uint8_t {
        Neutral = 0,      
        Angle,            
        LonLat            
        //TODO: add more, like smooth curve, ... ?
    };

    Type type = Type::Neutral;

    union TypeData {
        struct TypeAngle {
            float angles[3];              
            bool is_speed[3];        
        } angle;

        struct TypeLonLat {
            double lon;              
            double lat;              
            float altitude;          
            float roll_angle;        
            float pitch_angle_offset; 
            float yaw_angle_offset;  
            float pitch_fixed_angle; 
        } lonlat;
    } type_data;


    bool stabilize_axis[3] = { false, false, false }; 
    bool gimbal_shutter_retract = false; 
};


} /* namespace vmount */