Add message to rotate gimbal to specific coordinates

src/modules/gimbal.c

@@ -16,3 +16,35 @@ gimbal_ctrl_speed (
     req->gimbspeed.ctrl = 0xDC;
     req_finalize(seq, GIMBAL_CTRL_SPEED_CMD, ack, req);
 }
+
+void
+gimbal_rotate (
+		union Request* req,
+        uint16_t seq,
+        bool ack,
+		int16_t p,
+		int16_t y ) {
+    //req->gimbalrot.coordinate = 1;
+    //req->gimbalrot.yaw_valid = 1;
+    //req->gimbalrot.pitch_valid = 1;
+    //req->gimbalrot.roll_valid = 0;
+    req->gimbalrot.coord_bitfield = 0;
+    req->gimbalrot.coord_bitfield = 1 | 0 << 1 | 1 << 2 | 1 << 3;
+
+    //req->gimbalrot.frequency = 2;
+    //req->gimbalrot.control = 0;
+    req->gimbalrot.control_bitfield = 0;
+    req->gimbalrot.control_bitfield = 0 | 1 << 2;
+
+    req->gimbalrot.id = 33;
+    req->gimbalrot.yaw = 0;
+    req->gimbalrot.yaw = y;// >> 8;//(y >> 8 | y << 8);
+    req->gimbalrot.roll = 0;
+    req->gimbalrot.pitch = 0;
+    req->gimbalrot.pitch = p;// >> 8;//(p >> 8 | y << 8);
+    req->gimbalrot.error = 0;
+    req->gimbalrot.yaw_speed = 30;
+    req->gimbalrot.roll_speed = 0;
+    req->gimbalrot.pitch_speed = 30;
+    req_finalize(seq, GIMBAL_ROTATE_CMD, ack, req);
+}