Merge pull request #63 from AutoModality/AM-822/gimbal-control

feat: gimbal control message

Author: ajanani85

brain_box_msgs/msg/Gimbal.msg

@@ -1,6 +1,19 @@
-#how long should it take to get to the target
+Header header
+
+# ts is the time it takes to achieve the desired angle,
+# so the shorter the time, the faster the gimbal rotates.
 int32 ts
 
+# Mode is 1 byte size:
+# Bit #:      | Set to 0:                             | Set to 1:
+# ----------- | ------------------------------------- | -------------------------------------
+# bit 0       | Incremental control,                  | Absolute control,
+#             | the angle reference is the            | the angle reference is
+#             | current Gimbal location               | related to configuration in DJI Go App
+# bit 1       | Gimbal will follow the command in Yaw | Gimbal will maintain position in Yaw
+# bit 2       | Roll invalid bit, the same as bit[1]  | Roll invalid bit, the same as bit[1]
+# bit 3       |Pitch invalid bit, the same as bit[1]  | Pitch invalid bit, the same as bit[1]
+# bit [4:7]   | bit [4:7]: reserved, set to be 0      |
 int32 mode
 
 string cmd