hpm6750/controller_yy_app/software/soft_inc/soft_payload.h

#pragma once

#include <stdint.h>

enum
{
    PAYLOAD_TYPE_NULL = 0,   /* 空类 */
    PAYLOAD_TYPE_GIMBAL = 1, /* 吊舱类载荷 */
    PAYLOAD_TYPE_ENGINE = 2, /* 发动机类载荷 */
};

enum
{
    PAYLOAD_CTL_ID_NULL = 0,      /* 空指令 */
    PAYLOAD_CTL_ID_BACK_MID = 1,  /* 云台回中 */
    PAYLOAD_CTL_ID_SET_PITCH = 2, /* 给定俯仰 */
    PAYLOAD_CTL_ID_SET_ROLL = 3,  /* 给定横滚 */
    PAYLOAD_CTL_ID_LOCK_DOWN = 4, /* 垂直下视 */
    PAYLOAD_CTL_TARGET_TRACE = 5, /* 目标跟踪 */
};

struct targetTraceArg
{
    float p1x;
    float p1y;
    float p2x;
    float p2y;
};

struct payloadOps
{
    void (*init)(void *arg);

    void (*targetTarceCtlRecevied)(void *arg);
    void (*backMidCtlRecevied)(void *arg);
    void (*setPitchCtlRecevied)(void *arg);
};

struct payload
{
    uint8_t type;
    struct payloadOps ops;
    void *data;
};