add setGimbalDownwardHome function

gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h

@@ -46,6 +46,7 @@ public:
     uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
     uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
     uint32_t setGimabalHome(void);
+    uint32_t setGimbalDownwardHome(void);
 
     uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
     uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);

gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp

@@ -65,6 +65,12 @@ uint32_t GX40GimbalDriver::setGimabalHome(void)
     return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
 }
 
+uint32_t GX40GimbalDriver::setGimbalDownwardHome(void)
+{
+    pack(GX40::GIMBAL_CMD_MODE_OVERLOCK, nullptr, 0);
+    return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
+}
+
 /**
  * The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
  * returns the packed command.

gimbal_ctrl/driver/src/amovGimbal/amov_gimbal.h

@@ -75,6 +75,7 @@ namespace amovGimbal
         uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
 
         uint32_t setGimabalHome(void);
+        uint32_t setGimbalDownwardHome(void);
         uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);

gimbal_ctrl/driver/src/amov_gimbal_interface.cpp

@@ -80,6 +80,16 @@ uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
     return 0;
 }
 
+uint32_t amovGimbal::gimbal::setGimbalDownwardHome(void)
+{
+    return ((amovGimbalBase*)(this->devHandle))->setGimbalDownwardHome();
+}
+
+uint32_t amovGimbal::IamovGimbalBase::setGimbalDownwardHome()
+{
+    return 0;
+}
+
 uint32_t amovGimbal::gimbal::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
 {
     return ((amovGimbalBase *)(this->devHandle))->setGimbalZoom(zoom, targetRate);

gimbal_ctrl/driver/src/amov_gimbal_interface_c.cpp

@@ -66,6 +66,11 @@ uint32_t amovGimbalSetGimabalHome(void *handle)
     return ((amovGimbal::gimbal *)handle)->setGimabalHome();
 }
 
+uint32_t amovGimbalSetGimbalDownwardHome(void* handle)
+{
+    return ((amovGimbal::gimbal*)handle)->setGimbalDownwardHome();
+}
+
 uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
 {
     return ((amovGimbal::gimbal *)handle)->setGimbalZoom(zoom, targetRate);

gimbal_ctrl/driver/src/amov_gimbal_private.h

@@ -84,6 +84,7 @@ namespace amovGimbal
         virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
 
         virtual uint32_t setGimabalHome(void);
+        virtual uint32_t setGimbalDownwardHome(void);
         virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
         virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);

gimbal_ctrl/sv_gimbal.cpp

@@ -290,6 +290,12 @@ bool sv::Gimbal::setHome()
     }
 }
 
+void sv::Gimbal::setGimbalDownwardHome(void)
+{
+    amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
+    pdevTemp->setGimbalDownwardHome();
+}
+
 /**
  * This function sets the zoom level of a gimbal device and returns a boolean indicating success or
  * failure.

include/sv_gimbal.h

@@ -181,6 +181,7 @@ namespace sv
 
     // Funtions
     bool setHome();
+    void setGimbalDownwardHome();
     bool setZoom(double x);
     bool setAutoZoom(int state);
     bool setAutoFocus(int state);