Add gimbal control message

include/gimbal.h

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "message.h"
+
+#include <stdbool.h>
+#include <stdint.h>
+
+static const uint8_t GIMBAL_HOST = 4;
+static const uint8_t GIMBAL_INDEX = 0;
+
+#define GIMBAL_CTRL_SPEED_CMD 0x0C04
+
+void
+gimbal_ctrl_speed (
+		union Request* req,
+        uint16_t seq,
+        bool ack,
+		int16_t p,
+		int16_t y,
+		int16_t r );

include/message.h

@@ -168,6 +168,30 @@ struct PACKED SetChassisWheelSpeedResp
     struct Footer footer;
 };
 
+struct PACKED GimbalCtrlSpeedReq
+{
+    struct Header header;
+    // Values between -360 and 360
+    union {
+        int16_t yrp[3];
+        struct {
+            int16_t yaw;
+            int16_t roll;
+            int16_t pitch;
+        };
+    };
+    // Always 0xDC
+    uint8_t ctrl;
+    struct Footer footer;
+};
+
+struct PACKED GimbalCtrlSpeedResp
+{
+    struct Header header;
+    int8_t retcode;
+    struct Footer footer;
+};
+
 struct PACKED SetWheelSpeedReq
 {
     struct Header header;
@@ -236,6 +260,7 @@ union Request {
     struct SetRobotModeReq mvmode;
     struct SubNodeResetReq subnodereset;
     struct SubscribeAddNodeReq subnodeadd;
+    struct GimbalCtrlSpeedReq gimbspeed;
 };
 union Response {
     struct Header header;
@@ -249,6 +274,7 @@ union Response {
     struct SetRobotModeResp mvmode;
     struct SubNodeResetResp subnodereset;
     struct SubscribeAddNodeResp subnodeadd;
+    struct GimbalCtrlSpeedResp gimbspeed;
 };
 union Message {
     struct Header header;

include/robomaster.h

@@ -7,6 +7,7 @@ typedef struct Client* Client;
 #include "message.h"
 #include "chassis.h"
 #include "sdk.h"
+#include "gimbal.h"
 
 Client client_new();
 void client_connect(Client client);