#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 );

#define GIMBAL_ROTATE_CMD 0xb03f
void
gimbal_rotate (
		union Request* req,
        uint16_t seq,
        bool ack,
		int16_t p,
		int16_t y );
void
gimbal_rotate_to (
		union Request* req,
        uint16_t seq,
        bool ack,
		int16_t p,
		int16_t y );

#define GIMBAL_ACTION_PUSH_CMD 0xb13f