add setDownwardShootingMode

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

@@ -58,6 +58,7 @@ public:
                                 void *extenData);
 
     uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+    uint32_t setDownwardShootingMode();
     uint32_t extensionFuntions(void *cmd);
     static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
     {

gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp

@@ -249,3 +249,8 @@ uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t
     carrierStateMutex.unlock();
     return sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T);
 }
+
+uint32_t GX40GimbalDriver::setDownwardShootingMode()
+{
+    return pack(GX40::GIMBAL_CMD_MODE_OVERLOCK,nullptr,0);
+}

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

@@ -87,6 +87,7 @@ namespace amovGimbal
                                     const AMOV_GIMBAL_VELOCITY_T &seppd,
                                     const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
         uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        uint32_t setDownwardShootingMode();
         uint32_t extensionFuntions(void *cmd);
 
         // block functions

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal_c.h

@@ -40,6 +40,7 @@ extern "C"
                                            AMOV_GIMBAL_VELOCITY_T *speed,
                                            AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
     uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle);
+    uint32_t amovGimbalSetDownwardShootingMode(void* handle);
     uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle);
     void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle);
     void getGimbalType(char *type, void *handle);

gimbal_ctrl/driver/src/amov_gimbal_interface.cpp

@@ -168,6 +168,17 @@ uint32_t amovGimbal::IamovGimbalBase::setGNSSInfo(float lng, float lat, float al
     return 0;
 }
 
+uint32_t amovGimbal::gimbal::setDownwardShootingMode()
+{
+    return ((amovGimbalBase*)(this->devHandle))->setDownwardShootingMode();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setDownwardShootingMode()
+{
+    return 0;
+}
+
+
 uint32_t amovGimbal::gimbal::extensionFuntions(void *cmd)
 {
     return ((amovGimbalBase *)(this->devHandle))->extensionFuntions(cmd);

gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp

@@ -110,6 +110,12 @@ uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState,
     return ((amovGimbal::gimbal *)handle)->setGNSSInfo(lng, lat, alt, nState, relAlt);
 }
 
+uint32_t amovGimbalSetDownwardShootingMode(void* handle)
+{
+    return ((amovGimbal::gimbal*)handle)->setDownwardShootingMode();
+}
+
+
 uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle)
 {
     return ((amovGimbal::gimbal *)handle)->extensionFuntions(cmd);

gimbal_ctrl/driver/src/amov_gimbal_private.h

@@ -92,8 +92,10 @@ namespace amovGimbal
         virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
         virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
         virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+        virtual uint32_t setDownwardShootingMode();
         virtual uint32_t extensionFuntions(void *cmd);
 
+
         // block functions
         virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
         virtual bool setGimabalHomeBlock(void);

gimbal_ctrl/sv_gimbal.cpp

@@ -554,6 +554,13 @@ void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
     pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, extenData);
 }
 
+void sv::Gimbal::setDownwardShootingMode()
+{
+    amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
+    pdevTemp->setDownwardShootingMode();
+}
+
+
 sv::Gimbal::~Gimbal()
 {
     removeIO(this);

include/sv_gimbal.h

@@ -194,6 +194,8 @@ namespace sv
                                     const GimbalVelocityT &speed,
                                     const GimbalVelocityT &acc, void *extenData);
 
+    void setDownwardShootingMode();
+
     //! Set gimbal angles
     /*!
       \param roll: eular roll angle (-60, 60) degree

samples/demo/gimbal_detection_with_clicked_tracking.cpp

@@ -35,21 +35,24 @@ void gimbalNoTrack(void)
 int main(int argc, char *argv[])
 {
   // 实例化吊舱
-  gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
+  gimbal = new sv::Gimbal(sv::GimbalType::GX40, sv::GimbalLink::SERIAL);
   // 使用 /dev/ttyUSB0 作为控制串口
   gimbal->setSerialPort("/dev/ttyUSB0");
   // 以GimableCallback作为状态回调函数启用吊舱控制
   gimbal->open(GimableCallback);
+
+  gimbal->setDownwardShootingMode();
+
   // 定义相机
   sv::Camera cap;
   // 设置相机流媒体地址为 192.168.2.64
-  cap.setIp("192.168.2.64");
+  cap.setIp("192.168.144.108");
   // 设置获取画面分辨率为720P
   cap.setWH(1280, 720);
   // 设置视频帧率为30帧
   cap.setFps(30);
   // 开启相机
-  cap.open(sv::CameraType::G1);
+  cap.open(sv::CameraType::GX40);
 
   // 定义一个新的窗口，可在上面进行框选操作
   cv::namedWindow(RGB_WINDOW);