diff --git a/CMakeLists.txt b/CMakeLists.txt
index aeb6116..2f0ed43 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -69,6 +69,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/G1
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f
+  ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src
   ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/common_det/cuda
@@ -76,7 +77,7 @@ include_directories(
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/sot/ocv470
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/color_line
   ${CMAKE_CURRENT_SOURCE_DIR}/video_io
-    ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
+  ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/veri/cuda
   ${CMAKE_CURRENT_SOURCE_DIR}/algorithm/ellipse_det
   ${CMAKE_CURRENT_SOURCE_DIR}/utils
 )
@@ -139,6 +140,8 @@ file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/AT10/
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/Q10f/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
+file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/GX40/*.cpp)
+list(APPEND driver_SRCS ${DRV_LIB_FILES})
 file(GLOB DRV_LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/gimbal_ctrl/driver/src/*.cpp)
 list(APPEND driver_SRCS ${DRV_LIB_FILES})
 
diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
index 9a9ce3e..b8845c4 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:53:43
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_crc32.h
+ * @LastEditTime: 2023-11-28 11:47:48
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_crc32.h
  */
 #ifndef AT10_GIMBAL_CRC32_H
 #define AT10_GIMBAL_CRC32_H
diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
index ca8263f..655ca35 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:39:56
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.cpp
+ * @LastEditTime: 2023-11-28 11:47:53
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.cpp
  */
 #include "AT10_gimbal_driver.h"
 #include "AT10_gimbal_crc32.h"
diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
index bf84e97..4f2eaf6 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:28:55
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_driver.h
+ * @LastEditTime: 2023-11-28 11:47:58
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_driver.h
  */
 #include "../amov_gimbal.h"
 #include "../amov_gimbal_private.h"
diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp
index 14b474f..a3993f8 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:56:15
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_funtion.cpp
+ * @LastEditTime: 2023-11-28 11:48:03
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_funtion.cpp
  */
 #include "AT10_gimbal_driver.h"
 #include "AT10_gimbal_crc32.h"
diff --git a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_struct.h b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_struct.h
index 54f0dee..ee93582 100755
--- a/gimbal_ctrl/driver/src/AT10/AT10_gimbal_struct.h
+++ b/gimbal_ctrl/driver/src/AT10/AT10_gimbal_struct.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-25 19:32:59
- * @FilePath: /gimbal-sdk-multi-platform/src/AT10/AT10_gimbal_struct.h
+ * @LastEditTime: 2023-11-28 11:48:08
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/AT10/AT10_gimbal_struct.h
  */
 #ifndef AT10_GIMBAL_STRUCT_H
 #define AT10_GIMBAL_STRUCT_H
diff --git a/gimbal_ctrl/driver/src/CMakeLists.txt b/gimbal_ctrl/driver/src/CMakeLists.txt
deleted file mode 100755
index 5421bce..0000000
--- a/gimbal_ctrl/driver/src/CMakeLists.txt
+++ /dev/null
@@ -1,36 +0,0 @@
-add_library(AMOV_Gimbal ${LIB_FLAG})
-
-SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb -fPIC")
-SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -fPIC")
-
-add_definitions(
-    -DMAX_QUEUE_SIZE=100
-)
-
-add_subdirectory(FIFO)
-########## add types of gimbal ##############
-add_subdirectory(G1)
-add_subdirectory(G2)
-add_subdirectory(Q10f)
-add_subdirectory(AT10)
-
-file(GLOB LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-
-target_sources(AMOV_Gimbal
-    PRIVATE
-    ${LIB_FILES}
-)
-
-target_link_libraries(AMOV_Gimbal
-    PRIVATE
-    Gimabl_G1
-    Gimabl_G2
-    Gimabl_Q10f
-    Gimabl_AT10
-)
-
-target_include_directories(AMOV_Gimbal
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
diff --git a/gimbal_ctrl/driver/src/FIFO/CMakeLists.txt b/gimbal_ctrl/driver/src/FIFO/CMakeLists.txt
deleted file mode 100755
index 2357221..0000000
--- a/gimbal_ctrl/driver/src/FIFO/CMakeLists.txt
+++ /dev/null
@@ -1,13 +0,0 @@
-add_library(FIFO)
-
-file(GLOB LIB_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp)
-
-target_sources(FIFO
-    PRIVATE
-    ${LIB_FILES}
-)
-
-target_include_directories(FIFO
-    PUBLIC
-    ${CMAKE_CURRENT_SOURCE_DIR}
-)
\ No newline at end of file
diff --git a/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp b/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
index 87585a0..91d0c7f 100755
--- a/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
+++ b/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:10
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-21 16:10:16
- * @FilePath: /gimbal-sdk-multi-platform/src/FIFO/Ring_Fifo.cpp
+ * @LastEditTime: 2023-11-28 11:47:34
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.cpp
  */
 
 #include <string.h>
diff --git a/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h b/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
index 96c3e63..d470988 100755
--- a/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
+++ b/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2022-08-26 21:42:02
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 21:22:46
- * @FilePath: /gimbal-sdk-multi-platform/src/FIFO/Ring_Fifo.h
+ * @LastEditTime: 2023-11-28 11:47:39
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/FIFO/Ring_Fifo.h
  */
 
 #ifndef RING_FIFO_H
diff --git a/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h b/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
index a974124..55dd04a 100755
--- a/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
+++ b/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2022-10-28 14:10:02
- * @FilePath: \amov-gimbal-sdk\src\G1\g1_gimbal_crc32.h
+ * @LastEditTime: 2023-11-28 11:47:02
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_crc32.h
  */
 #ifndef G1_GIMBAL_CRC32_H
 #define G1_GIMBAL_CRC32_H
diff --git a/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp b/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
index 7484938..75ce4d4 100755
--- a/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
+++ b/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 11:01:25
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.cpp
+ * @LastEditTime: 2023-11-28 11:47:07
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
diff --git a/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h b/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
index c293fd2..5346b59 100755
--- a/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
+++ b/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 02:31:19
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_driver.h
+ * @LastEditTime: 2023-11-28 11:47:12
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_driver.h
  */
 #include "../amov_gimbal.h"
 #include "../amov_gimbal_private.h"
diff --git a/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp b/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
index 590dbcd..05d5d8c 100755
--- a/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
+++ b/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:50:30
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_funtion.cpp
+ * @LastEditTime: 2023-11-28 11:47:19
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_funtion.cpp
  */
 #include "g1_gimbal_driver.h"
 #include "g1_gimbal_crc32.h"
diff --git a/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h b/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
index f551a41..43b0a02 100755
--- a/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
+++ b/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-09-07 10:45:13
- * @FilePath: /gimbal-sdk-multi-platform/src/G1/g1_gimbal_struct.h
+ * @LastEditTime: 2023-11-28 11:47:24
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/G1/g1_gimbal_struct.h
  */
 #ifndef G1_GIMBAL_STRUCT_H
 #define G1_GIMBAL_STRUCT_H
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h
new file mode 100644
index 0000000..c26b45c
--- /dev/null
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h
@@ -0,0 +1,41 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:33:07
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-28 11:46:51
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_crc16.h
+ */
+#ifndef GX40_GIMBAL_CRC16_H
+#define GX40_GIMBAL_CRC16_H
+
+#include <stdint.h>
+
+namespace GX40
+{
+    const static uint16_t crc16Tab[16] = {
+        0x0000, 0x1021, 0x2042, 0x3063,
+        0x4084, 0x50a5, 0x60c6, 0x70e7,
+        0x8108, 0x9129, 0xa14a, 0xb16b,
+        0xc18c, 0xd1ad, 0xe1ce, 0xf1ef};
+
+    static inline uint16_t CalculateCrc16(const uint8_t *ptr, uint8_t len)
+    {
+        uint16_t crc = 0;
+        uint8_t temp;
+
+        while (len-- != 0)
+        {
+            temp = crc >> 12;
+            crc <<= 4;
+            crc ^= crc16Tab[temp ^ (*ptr >> 4)];
+            temp = crc >> 12;
+            crc <<= 4;
+            crc ^= crc16Tab[temp ^ (*ptr & 0x0F)];
+            ptr++;
+        }
+        crc = (crc >> 8) | (crc << 8);
+        return (crc);
+    }
+}
+#endif
\ No newline at end of file
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
new file mode 100644
index 0000000..019135a
--- /dev/null
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
@@ -0,0 +1,302 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:17
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-28 11:46:45
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.cpp
+ */
+#include <string.h>
+#include "GX40_gimbal_driver.h"
+#include "GX40_gimbal_crc16.h"
+#include <math.h>
+
+/**
+ * The above function is a constructor for the GX40GimbalDriver class in C++, which initializes member
+ * variables and sets the parser state to idle.
+ *
+ * @param _IO _IO is a pointer to an object of type amovGimbal::IOStreamBase. It is used to communicate
+ * with the gimbal device.
+ */
+GX40GimbalDriver::GX40GimbalDriver(amovGimbal::IOStreamBase *_IO) : amovGimbal::amovGimbalBase(_IO)
+{
+    rxQueue = new fifoRing(sizeof(GX40::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+    txQueue = new fifoRing(sizeof(GX40::GIMBAL_FRAME_T), MAX_QUEUE_SIZE);
+
+    targetPos[0] = 0;
+    targetPos[1] = 0;
+    targetPos[2] = 0;
+
+    parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+}
+
+/**
+ * The function `nopSend` continuously sends a "no operation" command to a GX40 gimbal driver.
+ */
+void GX40GimbalDriver::nopSend(void)
+{
+    while (1)
+    {
+        // 50Hz
+        std::this_thread::sleep_for(std::chrono::milliseconds(20));
+        pack(GX40::GIMBAL_CMD_NOP, nullptr, 0);
+    }
+}
+
+/**
+ * The function `parserStart` initializes the gimbal driver by setting the callback function, creating
+ * two threads for the main loop and sending NOP commands, and detaching the threads.
+ *
+ * @param callback The parameter "callback" is of type "amovGimbal::pStateInvoke", which is a function
+ * pointer type. It is used to specify a callback function that will be invoked when the gimbal state
+ * is updated.
+ */
+void GX40GimbalDriver::parserStart(amovGimbal::pStateInvoke callback)
+{
+    this->updateGimbalStateCallback = callback;
+
+    std::thread mainLoop(&GX40GimbalDriver::mainLoop, this);
+    std::thread sendNop(&GX40GimbalDriver::nopSend, this);
+
+    this->stackThreadHanle = mainLoop.native_handle();
+    this->nopSendThreadHandle = sendNop.native_handle();
+
+    mainLoop.detach();
+    sendNop.detach();
+}
+
+/**
+ * The function `pack` in the `GX40GimbalDriver` class is responsible for packing data into a frame for
+ * transmission.
+ *
+ * @param uint32_t The parameter `cmd` is an unsigned 32-bit integer representing the command.
+ * @param pPayload The `pPayload` parameter is a pointer to the payload data that needs to be packed.
+ * It is of type `uint8_t*`, which means it is a pointer to an array of unsigned 8-bit integers. The
+ * payload data is stored in this array.
+ * @param payloadSize The parameter `payloadSize` represents the size of the payload data in bytes. It
+ * is used to determine the size of the payload data that needs to be packed into the `temp` structure.
+ *
+ * @return a uint32_t value, which is stored in the variable "ret".
+ */
+uint32_t GX40GimbalDriver::pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize)
+{
+    uint32_t ret = 0;
+    GX40::GIMBAL_FRAME_T temp;
+    memset(&temp, 0, sizeof(GX40::GIMBAL_FRAME_T));
+    GX40::GIMBAL_PRIMARY_MASTER_FRAME_T *primary = (GX40::GIMBAL_PRIMARY_MASTER_FRAME_T *)temp.primaryData;
+    carrierStateMutex.lock();
+
+    primary->state = 0X00;
+    // 姿态数据&指令数据填充
+    primary->roll = targetPos[0];
+    primary->pitch = targetPos[1];
+    primary->yaw = targetPos[2];
+
+    primary->state |= (0X01 << 2);
+
+    temp.otherData[0] = cmd;
+    memcpy(temp.otherData + 1, pPayload, payloadSize);
+
+    // 固定字节填充
+    temp.head.u16 = XF_SEND_HEAD;
+    temp.version = 0X01;
+    primary->secondaryFlag = 0X01;
+    temp.lenght.u16 = 69 + payloadSize + 1 + 2;
+
+    // 惯导数据填充
+    std::chrono::milliseconds nowTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    // over 1s GNSS has losed
+    if ((nowTs.count() - upDataTs.count()) < std::chrono::milliseconds(1500).count())
+    {
+        primary->selfRoll = (int16_t)(-(carrierPos.roll / 0.01f));
+        primary->selfPitch = (int16_t)(-(carrierPos.pitch / 0.01f));
+        primary->selfYaw = (int16_t)(carrierPos.yaw / 0.01f);
+        primary->accE = (int16_t)(carrierAcc.y / 0.01f);
+        primary->accN = (int16_t)(carrierAcc.x / 0.01f);
+        primary->accUp = (int16_t)(carrierAcc.z / 0.01f);
+        primary->speedE = (int16_t)(carrierSpeed.y / 0.01f);
+        primary->speedN = (int16_t)(carrierSpeed.x / 0.01f);
+        primary->speedUp = (int16_t)(carrierSpeed.z / 0.01f);
+
+        carrierGNSS.GPSweeks = ((nowTs.count() / 1000) - 315964800) / 604800;
+        carrierGNSS.GPSms = nowTs.count() - (carrierGNSS.GPSweeks * 604800000);
+
+        memcpy(temp.secondaryData, &carrierGNSS, sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T));
+
+        primary->state |= (0X01 << 0);
+    }
+    else
+    {
+        primary->state &= (~(0X01 << 0));
+    }
+
+    carrierStateMutex.unlock();
+
+    // 校验
+    *(uint16_t *)(&temp.otherData[payloadSize + 1]) = GX40::CalculateCrc16((uint8_t *)&temp, 69 + 1 + payloadSize);
+
+    // 添加至发送队列
+    if (txQueue->inCell(&temp))
+    {
+        ret = temp.lenght.u16;
+    }
+    return ret;
+}
+
+/**
+ * The function `convert` takes a buffer and extracts data from it to update the state of a gimbal
+ * driver.
+ *
+ * @param buf The `buf` parameter is a void pointer that points to a buffer containing data that needs
+ * to be converted.
+ */
+void GX40GimbalDriver::convert(void *buf)
+{
+    GX40::GIMBAL_FRAME_T *temp;
+    GX40::GIMBAL_PRIMARY_SLAVE_FRAME_T *primary;
+    GX40::GIMBAL_SECONDARY_SLAVE_FRAME_T *secondary;
+    temp = reinterpret_cast<GX40::GIMBAL_FRAME_T *>(buf);
+    primary = (GX40::GIMBAL_PRIMARY_SLAVE_FRAME_T *)temp->primaryData;
+    secondary = (GX40::GIMBAL_SECONDARY_SLAVE_FRAME_T *)temp->secondaryData;
+
+    mState.lock();
+    this->state.workMode = (amovGimbal::AMOV_GIMBAL_SERVO_MODE_T)primary->workMode;
+    this->state.cameraFlag = (amovGimbal::AMOV_GIMBAL_CAMERA_FLAG_T)primary->state;
+    // 应该需要再解算一下，才能出具体的框架角度
+    this->state.rel.yaw = -(primary->motorYaw * XF_ANGLE_DPI);
+    this->state.rel.yaw = this->state.rel.yaw < -180.0f ? this->state.rel.yaw + 360.0f : this->state.rel.yaw;
+    this->state.rel.pitch = -(primary->motorPitch * XF_ANGLE_DPI);
+    this->state.rel.roll = -(primary->motorRoll * XF_ANGLE_DPI);
+
+    this->state.abs.yaw = -(primary->yaw * XF_ANGLE_DPI);
+    this->state.abs.yaw = this->state.abs.yaw < -180.0f ? this->state.abs.yaw + 360.0f : this->state.abs.yaw;
+
+    this->state.abs.pitch = -(primary->pitch * XF_ANGLE_DPI);
+    this->state.abs.roll = -(primary->roll * XF_ANGLE_DPI);
+
+    this->state.relSpeed.yaw = -(primary->speedYaw * XF_ANGLE_DPI);
+    this->state.relSpeed.pitch = -(primary->speedPitch * XF_ANGLE_DPI);
+    this->state.relSpeed.roll = -(primary->speedRoll * XF_ANGLE_DPI);
+
+    // 近似值 不准
+    this->state.fov.x = secondary->camera1Zoom * 0.1f;
+    this->state.fov.x = 60.2f / this->state.fov.x;
+    this->state.fov.y = secondary->camera1Zoom * 0.1f;
+    this->state.fov.y = 36.1f / this->state.fov.y;
+
+    updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
+                              state.abs.roll, state.abs.pitch, state.abs.yaw,
+                              state.fov.x, state.fov.y);
+
+    mState.unlock();
+}
+
+/**
+ * The function calculates the total length of a data packet by adding the length of the payload to the
+ * size of a uint16_t.
+ *
+ * @param pack The parameter "pack" is a void pointer, which means it can point to any type of data. In
+ * this case, it is expected to point to a structure of type "GX40::GIMBAL_FRAME_T".
+ *
+ * @return the sum of the length of the gimbal frame and the size of a uint16_t.
+ */
+uint32_t GX40GimbalDriver::calPackLen(void *pack)
+{
+    return ((GX40::GIMBAL_FRAME_T *)pack)->lenght.u16;
+}
+/**
+ * The function `parser` is used to parse incoming data frames in a specific format and returns a
+ * boolean value indicating whether the parsing was successful or not.
+ *
+ * @param uint8_t The parameter `byte` is of type `uint8_t`, which is an unsigned 8-bit integer. It is
+ * used to store a single byte of data that is being parsed by the `GX40GimbalDriver::parser` function.
+ *
+ * @return a boolean value, either true or false.
+ */
+#include <stdio.h>
+bool GX40GimbalDriver::parser(IN uint8_t byte)
+{
+    bool state = false;
+    static uint8_t payloadLenght = 0;
+    static uint8_t *pRx = nullptr;
+
+    switch (parserState)
+    {
+    case GX40::GIMBAL_FRAME_PARSER_STATE_IDLE:
+        if (byte == ((XF_RCV_HEAD >> 8) & 0XFF))
+        {
+            rx.head.u8[0] = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_HEAD;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_HEAD:
+        if (byte == ((XF_RCV_HEAD >> 0) & 0XFF))
+        {
+            rx.head.u8[1] = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_LEN1;
+        }
+        else
+        {
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            rx.head.u16 = 0;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_LEN1:
+        rx.lenght.u8[0] = byte;
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_LEN2;
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_LEN2:
+        rx.lenght.u8[1] = byte;
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_VERSION;
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_VERSION:
+        if (byte == XF_VERSION)
+        {
+            rx.version = byte;
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_PAYLOAD;
+            pRx = rx.primaryData;
+            payloadLenght = rx.lenght.u16 - 5;
+        }
+        else
+        {
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            rx.head.u16 = 0;
+            rx.lenght.u16 = 0;
+        }
+        break;
+
+    case GX40::GIMBAL_FRAME_PARSER_STATE_PAYLOAD:
+        *pRx = byte;
+        payloadLenght--;
+        pRx++;
+        if (payloadLenght <= 0)
+        {
+            if (*(uint16_t *)(pRx - sizeof(uint16_t)) == GX40::CalculateCrc16((uint8_t *)&rx, rx.lenght.u16 - 2))
+            {
+                state = true;
+                rxQueue->inCell(&rx);
+            }
+            else
+            {
+                memset(&rx, 0, sizeof(GX40::GIMBAL_FRAME_T));
+            }
+
+            parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+            pRx = nullptr;
+            payloadLenght = 0;
+        }
+        break;
+
+    default:
+        parserState = GX40::GIMBAL_FRAME_PARSER_STATE_IDLE;
+        pRx = nullptr;
+        payloadLenght = 0;
+        break;
+    }
+
+    return state;
+}
\ No newline at end of file
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
new file mode 100644
index 0000000..d0b63a3
--- /dev/null
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
@@ -0,0 +1,88 @@
+
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:13
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-28 11:46:35
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_driver.h
+ */
+#include "../amov_gimbal.h"
+#include "../amov_gimbal_private.h"
+#include "GX40_gimbal_struct.h"
+#include <mutex>
+#include <malloc.h>
+#include <iostream>
+#include <chrono>
+#include <time.h>
+
+#ifndef __GX40_DRIVER_H
+#define __GX40_DRIVER_H
+
+class GX40GimbalDriver : public amovGimbal::amovGimbalBase
+{
+    GX40::GIMBAL_FRAME_PARSER_STATE_T parserState;
+    GX40::GIMBAL_FRAME_T rx;
+
+    std::chrono::milliseconds upDataTs;
+    std::mutex carrierStateMutex;
+
+    int16_t targetPos[3];
+    
+    amovGimbal::AMOV_GIMBAL_POS_T carrierPos;
+    amovGimbal::AMOV_GIMBAL_VELOCITY_T carrierSpeed;
+    amovGimbal::AMOV_GIMBAL_VELOCITY_T carrierAcc;
+    GX40::GIMBAL_SECONDARY_MASTER_FRAME_T carrierGNSS;
+
+    std::thread::native_handle_type nopSendThreadHandle;
+    void nopSend(void);
+    void parserStart(amovGimbal::pStateInvoke callback);
+
+public:
+    uint32_t pack(IN uint32_t cmd, uint8_t *pPayload, uint8_t payloadSize);
+    bool parser(IN uint8_t byte);
+    void convert(void *buf);
+    uint32_t calPackLen(void *pack);
+
+    // funtions
+    uint32_t setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos);
+    uint32_t setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed);
+    uint32_t setGimabalHome(void);
+
+    uint32_t setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+    uint32_t setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
+
+    uint32_t takePic(void);
+    uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
+    uint32_t attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
+                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
+                                const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+                                void *extenData);
+
+    uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
+    uint32_t extensionFuntions(void *cmd);
+    static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
+    {
+        return new GX40GimbalDriver(_IO);
+    }
+    GX40GimbalDriver(amovGimbal::IOStreamBase *_IO);
+    ~GX40GimbalDriver()
+    {
+        if (txQueue != nullptr)
+        {
+            delete txQueue;
+        }
+        if (rxQueue != nullptr)
+        {
+            delete rxQueue;
+        }
+
+        pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+        parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+        sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+        stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
+        nopSendThreadHandle = nopSendThreadHandle == 0 ? 0 : pthread_cancel(nopSendThreadHandle);
+    }
+};
+
+#endif
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
new file mode 100644
index 0000000..e286ae0
--- /dev/null
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
@@ -0,0 +1,251 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-11-02 17:50:26
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-28 11:46:28
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
+ */
+#include <string.h>
+#include "GX40_gimbal_driver.h"
+
+/**
+ * The function sets the target position of a gimbal based on the input roll, pitch, and yaw values.
+ * 
+ * @param pos The parameter "pos" is of type "amovGimbal::AMOV_GIMBAL_POS_T". It is a structure that
+ * contains the roll, pitch, and yaw values of the gimbal position.
+ * 
+ * @return a packed value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = (int16_t)(-pos.roll / 0.01f);
+    targetPos[1] = (int16_t)(-pos.pitch / 0.01f);
+    targetPos[2] = (int16_t)(-pos.yaw / 0.01f);
+    carrierStateMutex.unlock();
+    return pack(GX40::GIMBAL_CMD_MODE_EULER, nullptr, 0);
+}
+
+/**
+ * The function sets the gimbal speed based on the provided roll, pitch, and yaw values.
+ * 
+ * @param speed The parameter "speed" is of type "amovGimbal::AMOV_GIMBAL_POS_T". It is a structure
+ * that contains the roll, pitch, and yaw values of the gimbal speed.
+ * 
+ * @return the result of the pack() function, which is of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = (int16_t)(-speed.roll / 0.1f);
+    targetPos[1] = (int16_t)(-speed.pitch / 0.1f);
+    targetPos[2] = (int16_t)(-speed.yaw / 0.1f);
+    carrierStateMutex.unlock();
+
+    return pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
+}
+
+/**
+ * The function sets the gimbal's home position to (0, 0, 0) and sends a command to the gimbal to go to
+ * the home position.
+ * 
+ * @return the result of the pack() function call with the arguments GX40::GIMBAL_CMD_HOME, nullptr, and
+ * 0.
+ */
+uint32_t GX40GimbalDriver::setGimabalHome(void)
+{
+    carrierStateMutex.lock();
+    targetPos[0] = 0;
+    targetPos[1] = 0;
+    targetPos[2] = 0;
+    carrierStateMutex.unlock();
+
+    pack(GX40::GIMBAL_CMD_MODE_FOLLOW, 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.
+ * 
+ * @return a uint32_t value.
+ */
+uint32_t GX40GimbalDriver::takePic(void)
+{
+    uint8_t temp = 0X01;
+
+    return pack(GX40::GIMBAL_CMD_TAKEPIC, &temp, 1);
+}
+
+/**
+ * The function `setVideo` toggles the video state of a gimbal driver and returns a packed command.
+ * 
+ * @param newState The parameter `newState` is of type `amovGimbal::AMOV_GIMBAL_VIDEO_T`, which is an
+ * enumeration representing the state of the video in the gimbal. It can have two possible values:
+ * 
+ * @return the result of the `pack` function, which is a `uint32_t` value.
+ */
+uint32_t GX40GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
+{
+    uint8_t temp = 0X01;
+
+    mState.lock();
+    if (state.video == amovGimbal::AMOV_GIMBAL_VIDEO_TAKE)
+    {
+        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_OFF;
+    }
+    else
+    {
+        state.video = amovGimbal::AMOV_GIMBAL_VIDEO_TAKE;
+    }
+    mState.unlock();
+
+    return pack(GX40::GIMBAL_CMD_TAKEPIC, &temp, 1);
+}
+
+/**
+ * The function `attitudeCorrection` updates the state of a gimbal driver with position, velocity, and
+ * acceleration data.
+ * 
+ * @param pos The "pos" parameter is of type "amovGimbal::AMOV_GIMBAL_POS_T" and represents the current
+ * position of the gimbal. It likely contains information such as the pitch, yaw, and roll angles of
+ * the gimbal.
+ * @param seppd The parameter `seppd` stands for "Separate Pointing Device" and represents the velocity
+ * of the gimbal in separate axes (e.g., pitch, yaw, roll). It is of type
+ * `amovGimbal::AMOV_GIMBAL_VELOCITY_T`.
+ * @param acc The "acc" parameter is of type "amovGimbal::AMOV_GIMBAL_VELOCITY_T" and represents the
+ * acceleration of the gimbal.
+ * @param extenData The extenData parameter is a pointer to additional data that can be passed to the
+ * attitudeCorrection function. It can be used to provide any extra information or context that may be
+ * needed for the attitude correction calculation. The specific type and structure of the extenData is
+ * not provided in the code snippet,
+ * 
+ * @return the size of the data being passed as arguments. The size is calculated by adding the sizes
+ * of the three types: sizeof(amovGimbal::AMOV_GIMBAL_POS_T),
+ * sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T), and sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T).
+ */
+uint32_t GX40GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
+                                             const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
+                                             const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
+                                             void *extenData)
+{
+    carrierStateMutex.lock();
+    carrierPos = pos;
+    carrierSpeed = seppd;
+    carrierAcc = acc;
+    upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
+    carrierStateMutex.unlock();
+    return sizeof(amovGimbal::AMOV_GIMBAL_POS_T) + sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T) + sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T);
+}
+
+/**
+ * The function `extensionFuntions` takes a command as input, converts it to a specific format, and
+ * returns a 32-bit unsigned integer.
+ * 
+ * @param cmd The parameter "cmd" is a void pointer, which means it can point to any type of data. In
+ * this case, it is being cast to a uint8_t pointer, which means it is expected to point to an array of
+ * uint8_t (8-bit unsigned integers).
+ * 
+ * @return a value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::extensionFuntions(void *cmd)
+{
+    uint8_t *temp = (uint8_t *)cmd;
+    return pack(temp[0], &temp[2], temp[1]);
+}
+
+/**
+ * The function `setGimbalZoom` in the `GX40GimbalDriver` class sets the zoom level of a gimbal based on
+ * the specified zoom type and target rate.
+ * 
+ * @param zoom The "zoom" parameter is of type amovGimbal::AMOV_GIMBAL_ZOOM_T, which is an enumeration
+ * type. It represents the zoom action to be performed on the gimbal. The possible values for this
+ * parameter are:
+ * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
+ * the gimbal. It is used to control the zoom functionality of the gimbal.
+ * 
+ * @return a value of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint8_t temp[4];
+    uint8_t len = 0;
+    temp[1] = 0X01;
+    if (targetRate == 0.0f)
+    {
+        len = 1;
+        switch (zoom)
+        {
+        case amovGimbal::AMOV_GIMBAL_ZOOM_IN:
+            temp[0] = GX40::GIMBAL_CMD_ZOMM_IN;
+            break;
+        case amovGimbal::AMOV_GIMBAL_ZOOM_OUT:
+            temp[0] = GX40::GIMBAL_CMD_ZOOM_OUT;
+            break;
+        case amovGimbal::AMOV_GIMBAL_ZOOM_STOP:
+            temp[0] = GX40::GIMBAL_CMD_ZOOM_STOP;
+            break;
+        }
+    }
+    else
+    {
+        len = 3;
+        temp[0] = GX40::GIMBAL_CMD_ZOOM;
+        int16_t targetTemp = (int16_t)(-targetRate / 0.1f);
+        temp[2] = (targetTemp >> 0) & 0XFF;
+        temp[3] = (targetTemp >> 8) & 0XFF;
+    }
+
+    return pack(temp[0], &temp[1], len);
+}
+
+/**
+ * The function "setGimbalFocus" sets the focus of a gimbal by specifying the zoom level and target
+ * rate.
+ * 
+ * @param zoom The zoom parameter is of type amovGimbal::AMOV_GIMBAL_ZOOM_T, which is an enumeration
+ * type representing different zoom levels for the gimbal. It is used to specify the desired zoom level
+ * for the gimbal focus.
+ * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
+ * the gimbal.
+ * 
+ * @return the result of the pack() function, which is of type uint32_t.
+ */
+uint32_t GX40GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
+{
+    uint8_t temp = 0X01;
+
+    return pack(GX40::GIMBAL_CMD_FOCUE, &temp, 1);
+}
+
+/**
+ * The function sets the GNSS information in the carrierGNSS struct and returns the size of the struct.
+ * 
+ * @param lng The "lng" parameter represents the longitude value of the GNSS (Global Navigation
+ * Satellite System) information.
+ * @param lat The "lat" parameter represents the latitude value of the GNSS (Global Navigation
+ * Satellite System) information.
+ * @param alt The "alt" parameter represents the altitude value in meters.
+ * @param nState The parameter "nState" represents the state of the GNSS (Global Navigation Satellite
+ * System) information. It is of type uint32_t, which means it is an unsigned 32-bit integer. The
+ * specific values and their meanings for the "nState" parameter are not provided in the code snippet
+ * @param relAlt Relative altitude of the carrier (in meters)
+ * 
+ * @return the size of the structure GX40::GIMBAL_SECONDARY_MASTER_FRAME_T.
+ */
+uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    carrierStateMutex.lock();
+    carrierGNSS.head = 0X01;
+
+    carrierGNSS.lng = lng;
+    carrierGNSS.lat = lat;
+    carrierGNSS.alt = alt;
+
+    carrierGNSS.relAlt = relAlt;
+    carrierGNSS.nState = nState;
+
+    carrierStateMutex.unlock();
+    return sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T);
+}
diff --git a/gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h
new file mode 100644
index 0000000..b5d65ce
--- /dev/null
+++ b/gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h
@@ -0,0 +1,154 @@
+/*
+ * @Description:
+ * @Author: L LC @amov
+ * @Date: 2023-10-20 16:08:13
+ * @LastEditors: L LC @amov
+ * @LastEditTime: 2023-11-28 11:46:22
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_struct.h
+ */
+#ifndef GX40_GIMBAL_STRUCT_H
+#define GX40_GIMBAL_STRUCT_H
+
+#include <stdint.h>
+
+namespace GX40
+{
+#define XF_SEND_HEAD 0XE5A8
+#define XF_RCV_HEAD 0X8A5E
+#define XF_VERSION 0X00
+#define XF_ANGLE_DPI 0.01f
+
+    typedef enum
+    {
+        GIMBAL_FRAME_PARSER_STATE_IDLE,
+        GIMBAL_FRAME_PARSER_STATE_HEAD,
+        GIMBAL_FRAME_PARSER_STATE_LEN1,
+        GIMBAL_FRAME_PARSER_STATE_LEN2,
+        GIMBAL_FRAME_PARSER_STATE_VERSION,
+        GIMBAL_FRAME_PARSER_STATE_PAYLOAD,
+    } GIMBAL_FRAME_PARSER_STATE_T;
+
+    typedef enum
+    {
+        GIMBAL_CMD_NOP = 0X00,
+        GIMBAL_CMD_CAL = 0X01,
+        GIMBAL_CMD_HOME = 0X03,
+        GIMBAL_CMD_MODE_FPV = 0X10,
+        GIMBAL_CMD_MODE_LOCK = 0X11,
+        GIMBAL_CMD_MODE_FOLLOW = 0X12,
+        GIMBAL_CMD_MODE_OVERLOCK = 0X13,
+        GIMBAL_CMD_MODE_EULER = 0X14,
+        GIMBAL_CMD_MODE_WATCH_POS = 0X15,
+        GIMBAL_CMD_MODE_WATCH = 0X16,
+        GIMBAL_CMD_MODE_TRACK = 0X17,
+        GIMBAL_CMD_MODE_MOVE = 0X1A,
+        GIMBAL_CMD_MODE_MOVE_TRACK = 0X1B,
+        GIMBAL_CMD_TAKEPIC = 0X20,
+        GIMBAL_CMD_TAKEVIDEO = 0X21,
+        GIMBAL_CMD_ZOOM_OUT = 0X22,
+        GIMBAL_CMD_ZOMM_IN = 0X23,
+        GIMBAL_CMD_ZOOM_STOP = 0X24,
+        GIMBAL_CMD_ZOOM = 0X25,
+        GIMBAL_CMD_FOCUE = 0X26,
+        GIMBAL_CMD_VIDEO_MODE = 0X2A,
+        GIMBAL_CMD_NIGHT = 0X2B,
+        GIMBAL_CMD_OSD = 0X73,
+        GIMBAL_CMD_FIX_MODE = 0X74,
+        GIMBAL_CMD_LIGHT = 0X80,
+        GIMBAL_CMD_TAKE_DISTANCE = 0X81,
+    } GIMBAL_CMD_T;
+
+#pragma pack(1)
+
+    typedef struct
+    {
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } head;
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } lenght;
+        uint8_t version;
+        uint8_t primaryData[32];
+        uint8_t secondaryData[32];
+        uint8_t otherData[32];
+        union
+        {
+            uint8_t u8[2];
+            uint16_t u16;
+        } crc16;
+    } GIMBAL_FRAME_T;
+
+    typedef struct
+    {
+        int16_t roll;
+        int16_t pitch;
+        int16_t yaw;
+        uint8_t state;
+        int16_t selfRoll;
+        int16_t selfPitch;
+        uint16_t selfYaw;
+        int16_t accN;
+        int16_t accE;
+        int16_t accUp;
+        int16_t speedN;
+        int16_t speedE;
+        int16_t speedUp;
+        uint8_t secondaryFlag;
+        uint8_t reserve[6];
+    } GIMBAL_PRIMARY_MASTER_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t workMode;
+        uint16_t state;
+        int16_t offsetX;
+        int16_t offsetY;
+        uint16_t motorRoll;
+        uint16_t motorPitch;
+        uint16_t motorYaw;
+        int16_t roll;
+        int16_t pitch;
+        uint16_t yaw;
+        int16_t speedRoll;
+        int16_t speedPitch;
+        int16_t speedYaw;
+        uint8_t reserve[7];
+    } GIMBAL_PRIMARY_SLAVE_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t head;
+        int32_t lng;
+        int32_t lat;
+        int32_t alt;
+        uint8_t nState;
+        uint32_t GPSms;
+        int32_t GPSweeks;
+        int32_t relAlt;
+        uint8_t reserve[8];
+    } GIMBAL_SECONDARY_MASTER_FRAME_T;
+
+    typedef struct
+    {
+        uint8_t head;
+        uint8_t versionHW;
+        uint8_t versionSoft;
+        uint8_t type;
+        uint16_t error;
+        int32_t targetDistance;
+        int32_t targetLng;
+        int32_t targetLat;
+        int32_t targetAlt;
+        uint16_t camera1Zoom;
+        uint16_t camera2Zoom;
+        uint8_t reserve[6];
+    } GIMBAL_SECONDARY_SLAVE_FRAME_T;
+#pragma pack()
+}
+
+#endif
diff --git a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
index 709b2d8..7273d2b 100755
--- a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
+++ b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-23 17:24:23
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_crc32.h
+ * @LastEditTime: 2023-11-28 11:45:25
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_crc32.h
  */
 #ifndef Q10F_GIMBAL_CRC32_H
 #define Q10F_GIMBAL_CRC32_H
diff --git a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
index 4262cf2..4b7d27f 100755
--- a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
+++ b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:06
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 12:03:44
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.cpp
+ * @LastEditTime: 2023-11-28 11:45:31
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
diff --git a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
index 38a849a..a480f5b 100755
--- a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
+++ b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 12:24:21
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-03-28 17:01:00
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_driver.h
+ * @LastEditTime: 2023-11-28 11:45:36
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.h
  */
 #include "../amov_gimbal.h"
 #include "../amov_gimbal_private.h"
diff --git a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
index 4406d07..6f2b7ab 100755
--- a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
+++ b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-03-02 10:00:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 14:22:57
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_funtion.cpp
+ * @LastEditTime: 2023-11-28 11:45:41
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_funtion.cpp
  */
 #include "Q10f_gimbal_driver.h"
 #include "Q10f_gimbal_crc32.h"
diff --git a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
index fc701d4..9668b4b 100755
--- a/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
+++ b/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:10:07
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-24 11:51:59
- * @FilePath: /gimbal-sdk-multi-platform/src/Q10f/Q10f_gimbal_struct.h
+ * @LastEditTime: 2023-11-28 11:45:46
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_struct.h
  */
 #ifndef Q10F_GIMBAL_STRUCT_H
 #define Q10F_GIMBAL_STRUCT_H
diff --git a/gimbal_ctrl/driver/src/amov_gimbal.cpp b/gimbal_ctrl/driver/src/amov_gimbal.cpp
index a0e9190..36129df 100755
--- a/gimbal_ctrl/driver/src/amov_gimbal.cpp
+++ b/gimbal_ctrl/driver/src/amov_gimbal.cpp
@@ -3,15 +3,15 @@
  * @Author: L LC @amov
  * @Date: 2022-10-28 11:54:11
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-17 11:57:11
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.cpp
+ * @LastEditTime: 2023-11-28 11:44:37
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal.cpp
  */
 
-// #include "amov_gimbal.h"
 #include "amov_gimbal_private.h"
 #include "g1_gimbal_driver.h"
 #include "Q10f_gimbal_driver.h"
 #include "AT10_gimbal_driver.h"
+#include "GX40_gimbal_driver.h"
 
 #include <iostream>
 #include <thread>
@@ -19,30 +19,18 @@
 #include <iterator>
 
 #define MAX_PACK_SIZE 280
-typedef enum
-{
-    AMOV_GIMBAL_TYPE_NULL,
-    AMOV_GIMBAL_TYPE_G1 = 1,
-    AMOV_GIMBAL_TYPE_G2,
-    AMOV_GIMBAL_TYPE_Q10,
-    AMOV_GIMBAL_TYPE_AT10,
-} AMOV_GIMBAL_TYPE_T;
 
 namespace amovGimbal
 {
     typedef amovGimbal::amovGimbalBase *(*createCallback)(amovGimbal::IOStreamBase *_IO);
     typedef std::map<std::string, createCallback> callbackMap;
-    std::map<std::string, AMOV_GIMBAL_TYPE_T> amovGimbalTypeList =
-        {
-            {"G1", AMOV_GIMBAL_TYPE_G1},
-            {"Q10f", AMOV_GIMBAL_TYPE_Q10},
-            {"AT10", AMOV_GIMBAL_TYPE_AT10}};
 
     callbackMap amovGimbals =
         {
             {"G1", g1GimbalDriver::creat},
             {"Q10f", Q10fGimbalDriver::creat},
-            {"AT10", AT10GimbalDriver::creat}};
+            {"AT10", AT10GimbalDriver::creat},
+            {"GX40", GX40GimbalDriver::creat}};
 }
 
 /* The amovGimbalCreator class is a factory class that creates an instance of the amovGimbal class */
@@ -133,6 +121,11 @@ void amovGimbal::amovGimbalBase::send(void)
         if (state)
         {
             IO->outPutBytes((uint8_t *)&tempBuffer, calPackLen(tempBuffer));
+            // printf("\r\n");
+            // for(uint16_t i =0 ; i< calPackLen(tempBuffer);i++)
+            // {
+            //     printf("%02X ",tempBuffer[i]);
+            // }
         }
     }
 }
@@ -186,6 +179,10 @@ void amovGimbal::amovGimbalBase::stackStart(void)
     }
     std::thread parserLoop(&amovGimbalBase::parserLoop, this);
     std::thread sendLoop(&amovGimbalBase::sendLoop, this);
+
+    this->sendThreadHanle = sendLoop.native_handle();
+    this->parserThreadHanle = parserLoop.native_handle();
+
     parserLoop.detach();
     sendLoop.detach();
 }
@@ -203,12 +200,19 @@ void amovGimbal::gimbal::setParserCallback(amovGimbal::pStateInvoke callback)
     ((amovGimbalBase *)(this->dev))->updateGimbalStateCallback = callback;
 }
 
+void amovGimbal::amovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
+{
+    return;
+}
+
 void amovGimbal::amovGimbalBase::parserStart(pStateInvoke callback)
 {
     this->updateGimbalStateCallback = callback;
 
     std::thread mainLoop(&amovGimbalBase::mainLoop, this);
 
+    this->stackThreadHanle = mainLoop.native_handle();
+
     mainLoop.detach();
 }
 /**
@@ -235,11 +239,6 @@ amovGimbal::AMOV_GIMBAL_STATE_T amovGimbal::gimbal::getGimabalState(void)
 /**
  * Default implementation of interface functions, not pure virtual functions for ease of extension.
  */
-void amovGimbal::IamovGimbalBase::nodeSet(SET uint32_t _self, SET uint32_t _remote)
-{
-    return;
-}
-
 uint32_t amovGimbal::IamovGimbalBase::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
 {
     return 0;
@@ -300,6 +299,36 @@ uint32_t amovGimbal::IamovGimbalBase::extensionFuntions(void *cmd)
     return 0;
 }
 
+uint32_t amovGimbal::IamovGimbalBase::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
+{
+    return 0;
+}
+
+bool amovGimbal::IamovGimbalBase::setGimbalPosBlock(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
+{
+    return false;
+}
+
+bool amovGimbal::IamovGimbalBase::setGimabalHomeBlock(void)
+{
+    return false;
+}
+
+bool amovGimbal::IamovGimbalBase::setGimbalZoomBlock(float targetRate)
+{
+    return false;
+}
+
+bool amovGimbal::IamovGimbalBase::takePicBlock(void)
+{
+    return false;
+}
+
+bool amovGimbal::IamovGimbalBase::calibrationBlock(void)
+{
+    return false;
+}
+
 /**
  * The function creates a new gimbal object, which is a pointer to a new amovGimbal object, which is a
  * pointer to a new Gimbal object, which is a pointer to a new IOStreamBase object
@@ -317,7 +346,7 @@ amovGimbal::gimbal::gimbal(const std::string &type, IOStreamBase *_IO,
 
     dev = amovGimbalCreator::createAmovGimbal(typeName, IO);
 
-    dev->nodeSet(_self, _remote);
+    ((amovGimbalBase *)(dev))->nodeSet(_self, _remote);
 }
 
 amovGimbal::gimbal::~gimbal()
diff --git a/gimbal_ctrl/driver/src/amov_gimbal.h b/gimbal_ctrl/driver/src/amov_gimbal.h
index 442f91f..cb203c6 100755
--- a/gimbal_ctrl/driver/src/amov_gimbal.h
+++ b/gimbal_ctrl/driver/src/amov_gimbal.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-27 18:34:26
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:28
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal.h
+ * @LastEditTime: 2023-11-28 11:44:44
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal.h
  */
 
 #ifndef AMOV_GIMBAL_H
@@ -32,7 +32,6 @@ namespace amovGimbal
     {
     }
 
-
     // Control data input and output
     class IOStreamBase
     {
@@ -55,11 +54,12 @@ namespace amovGimbal
     public:
         IamovGimbalBase() {}
         virtual ~IamovGimbalBase() {}
-        // functions
-        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
+
+        // non-block functions
         virtual uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
         virtual uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
         virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
+
         virtual uint32_t setGimabalHome(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);
@@ -68,7 +68,15 @@ namespace amovGimbal
         virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
         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 extensionFuntions(void *cmd);
+
+        // block functions
+        virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
+        virtual bool setGimabalHomeBlock(void);
+        virtual bool setGimbalZoomBlock(float targetRate);
+        virtual bool takePicBlock(void);
+        virtual bool calibrationBlock(void);
     };
 
     class gimbal
diff --git a/gimbal_ctrl/driver/src/amov_gimbal_private.h b/gimbal_ctrl/driver/src/amov_gimbal_private.h
index aace061..1b97255 100644
--- a/gimbal_ctrl/driver/src/amov_gimbal_private.h
+++ b/gimbal_ctrl/driver/src/amov_gimbal_private.h
@@ -3,8 +3,8 @@
  * @Author         : Aiyangsky
  * @Date           : 2023-05-13 10:39:20
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:30:53
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_private.h
+ * @LastEditTime: 2023-11-28 11:45:18
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_private.h
  */
 #ifndef __AMOV_GIMABL_PRIVATE_H
 #define __AMOV_GIMABL_PRIVATE_H
@@ -35,6 +35,10 @@ namespace amovGimbal
         fifoRing *rxQueue;
         fifoRing *txQueue;
 
+        std::thread::native_handle_type parserThreadHanle = 0;
+        std::thread::native_handle_type sendThreadHanle = 0;
+        std::thread::native_handle_type stackThreadHanle = 0;
+
         PamovGimbalBase(SET IOStreamBase *_IO)
         {
             IO = _IO;
@@ -49,6 +53,11 @@ namespace amovGimbal
             {
                 delete rxQueue;
             }
+            // set thread kill anytime
+            pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
+            parserThreadHanle = parserThreadHanle == 0 ? 0 : pthread_cancel(parserThreadHanle);
+            sendThreadHanle = sendThreadHanle == 0 ? 0 : pthread_cancel(sendThreadHanle);
+            stackThreadHanle = stackThreadHanle == 0 ? 0 : pthread_cancel(stackThreadHanle);
         }
     };
 
@@ -70,6 +79,8 @@ namespace amovGimbal
         virtual void stackStart(void);
         virtual void parserStart(amovGimbal::pStateInvoke callback);
 
+        virtual void nodeSet(SET uint32_t _self, SET uint32_t _remote);
+
     public:
         amovGimbalBase(IOStreamBase *_IO);
         virtual ~amovGimbalBase();
diff --git a/gimbal_ctrl/driver/src/amov_gimbal_struct.h b/gimbal_ctrl/driver/src/amov_gimbal_struct.h
index a7451b0..991440a 100755
--- a/gimbal_ctrl/driver/src/amov_gimbal_struct.h
+++ b/gimbal_ctrl/driver/src/amov_gimbal_struct.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2022-10-31 11:56:43
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-08-16 22:21:46
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_gimbal_struct.h
+ * @LastEditTime: 2023-11-28 11:44:30
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_gimbal_struct.h
  */
 
 #include <stdint.h>
@@ -21,9 +21,22 @@ namespace amovGimbal
 
     typedef enum
     {
-        AMOV_GIMBAL_MODE_LOCK,
-        AMOV_GIMBAL_MODE_NULOCK,
-    } AMOV_GIMBAL_MODE_T;
+        AMOV_GIMBAL_SERVO_MODE_FPV = 0X10,
+        AMOV_GIMBAL_SERVO_MODE_LOCK = 0X11,
+        AMOV_GIMBAL_SERVO_MODE_FOLLOW = 0X12,
+        AMOV_GIMBAL_SERVO_MODE_OVERLOOK = 0X13,
+        AMOV_GIMBAL_SERVO_MODE_EULER = 0X14,
+        AMOV_GIMBAL_SERVO_MODE_WATCH = 0X16,
+        AMOV_GIMBAL_SERVO_MODE_TRACK = 0X17,
+    } AMOV_GIMBAL_SERVO_MODE_T;
+
+    typedef enum
+    {
+        AMOV_GIMBAL_CAMERA_FLAG_INVERSION = 0X1000,
+        AMOV_GIMBAL_CAMERA_FLAG_IR = 0X0200,
+        AMOV_GIMBAL_CAMERA_FLAG_RF = 0X0100,
+        AMOV_GIMBAL_CAMERA_FLAG_LOCK = 0X0001,
+    } AMOV_GIMBAL_CAMERA_FLAG_T;
 
     typedef enum
     {
@@ -53,10 +66,12 @@ namespace amovGimbal
 
     typedef struct
     {
-        AMOV_GIMBAL_MODE_T workMode;
+        AMOV_GIMBAL_SERVO_MODE_T workMode;
+        AMOV_GIMBAL_CAMERA_FLAG_T cameraFlag;
         AMOV_GIMBAL_VIDEO_T video;
         AMOV_GIMBAL_POS_T abs;
         AMOV_GIMBAL_POS_T rel;
+        AMOV_GIMBAL_POS_T relSpeed;
         AMOV_GIMBAL_POS_T maxFollow;
         AMOV_GIMBAL_FOV_T fov;
     } AMOV_GIMBAL_STATE_T;
@@ -79,9 +94,9 @@ namespace amovGimbal
 
     typedef struct
     {
-        double x;
-        double y;
-        double z;
+        double x; // or N
+        double y; // or E
+        double z; // or UP
     } AMOV_GIMBAL_VELOCITY_T;
 
 } // namespace amovGimbal
diff --git a/gimbal_ctrl/driver/src/amov_tool.h b/gimbal_ctrl/driver/src/amov_tool.h
index e165df6..0e7ae9d 100644
--- a/gimbal_ctrl/driver/src/amov_tool.h
+++ b/gimbal_ctrl/driver/src/amov_tool.h
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-07-31 18:30:33
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-07-31 18:55:18
- * @FilePath: /gimbal-sdk-multi-platform/src/amov_tool.h
+ * @LastEditTime: 2023-11-28 11:44:49
+ * @FilePath: /SpireCV/gimbal_ctrl/driver/src/amov_tool.h
  */
 
 namespace amovGimbalTools
diff --git a/gimbal_ctrl/sv_gimbal.cpp b/gimbal_ctrl/sv_gimbal.cpp
index d01406c..17edcd1 100644
--- a/gimbal_ctrl/sv_gimbal.cpp
+++ b/gimbal_ctrl/sv_gimbal.cpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 09:12:52
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-18 11:37:42
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal.cpp
+ * @LastEditTime: 2023-11-28 11:43:39
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal.cpp
  */
 #include "amov_gimbal.h"
 #include "amov_gimbal_struct.h"
@@ -24,7 +24,8 @@ namespace sv
         {
             {GimbalType::G1, "G1"},
             {GimbalType::Q10f, "Q10f"},
-            {GimbalType::AT10, "AT10"}};
+            {GimbalType::AT10, "AT10"},
+            {GimbalType::GX40, "GX40"}};
 
     std::string &cvGimbalType2Str(const GimbalType &type)
     {
@@ -191,11 +192,13 @@ void sv::Gimbal::removeIO(sv::Gimbal *dev)
  *
  * @return A boolean value is being returned.
  */
+#include "stdlib.h"
 bool sv::Gimbal::open(PStateInvoke callback)
 {
     bool ret = false;
 
     this->IO = creatIO(this);
+
     if (this->IO != nullptr)
     {
         std::string driverName;
diff --git a/gimbal_ctrl/sv_gimbal_io.hpp b/gimbal_ctrl/sv_gimbal_io.hpp
index 9781e48..e74d1bc 100644
--- a/gimbal_ctrl/sv_gimbal_io.hpp
+++ b/gimbal_ctrl/sv_gimbal_io.hpp
@@ -3,8 +3,8 @@
  * @Author: L LC @amov
  * @Date: 2023-04-12 12:22:09
  * @LastEditors: L LC @amov
- * @LastEditTime: 2023-04-13 10:17:21
- * @FilePath: /spirecv-gimbal-sdk/gimbal_ctrl/sv_gimbal_io.hpp
+ * @LastEditTime: 2023-11-28 11:43:49
+ * @FilePath: /SpireCV/gimbal_ctrl/sv_gimbal_io.hpp
  */
 #ifndef __SV_GIMABL_IO_H
 #define __SV_GIMABL_IO_H
diff --git a/include/sv_gimbal.h b/include/sv_gimbal.h
index 445f257..31cd858 100644
--- a/include/sv_gimbal.h
+++ b/include/sv_gimbal.h
@@ -27,6 +27,7 @@ namespace sv
     G1,
     Q10f,
     AT10,
+    GX40,
   };
   enum class GimbalLink
   {
diff --git a/include/sv_video_base.h b/include/sv_video_base.h
index e9ee23c..55e1519 100644
--- a/include/sv_video_base.h
+++ b/include/sv_video_base.h
@@ -326,7 +326,7 @@ protected:
 };
 
 
-enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI};
+enum class CameraType {NONE, WEBCAM, V4L2CAM, G1, Q10, MIPI, GX40};
 
 class CameraBase {
 public:
diff --git a/samples/demo/detection_with_clicked_tracking.cpp b/samples/demo/detection_with_clicked_tracking.cpp
index 7cefc72..7a779a4 100644
--- a/samples/demo/detection_with_clicked_tracking.cpp
+++ b/samples/demo/detection_with_clicked_tracking.cpp
@@ -52,7 +52,7 @@ int main(int argc, char *argv[]) {
   // cap.setWH(640, 480);
   // cap.setFps(30);
   cap.open(sv::CameraType::WEBCAM, 0);  // CameraID 0
-  // cv::VideoCapture cap("/home/amov/SpireCV/test/tracking_1280x720.mp4");
+
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
   int frame_id = 0;
diff --git a/samples/demo/gimbal_detection_with_clicked_tracking.cpp b/samples/demo/gimbal_detection_with_clicked_tracking.cpp
index c9d1800..f220831 100644
--- a/samples/demo/gimbal_detection_with_clicked_tracking.cpp
+++ b/samples/demo/gimbal_detection_with_clicked_tracking.cpp
@@ -77,10 +77,10 @@ int main(int argc, char *argv[])
   // 实例化 框选目标跟踪类
   sv::SingleObjectTracker sot;
   // 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
-  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  sot.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   sv::CommonObjectDetector cod;
-  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
+  cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_1280x720.yaml");
 
   // 实例化OpenCV的Mat类，用于内存单帧图像
   cv::Mat img;
diff --git a/samples/demo/gimbal_udp_detection_info_sender.cpp b/samples/demo/gimbal_udp_detection_info_sender.cpp
index 00bfceb..f9ee0a8 100644
--- a/samples/demo/gimbal_udp_detection_info_sender.cpp
+++ b/samples/demo/gimbal_udp_detection_info_sender.cpp
@@ -7,8 +7,8 @@ using namespace std;
 
 // yaw roll pitch
 double gimbalEulerAngle[3];
-void gimableCallback(double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
-                     double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+void gimableCallback(double &frame_ang_r, double &frame_ang_p, double &frame_ang_y,
+                     double &imu_ang_r, double &imu_ang_p, double &imu_ang_y,
                      double &fov_x, double &fov_y)
 {
   static int count = 0;
@@ -80,6 +80,8 @@ int main(int argc, char *argv[])
     // 读取一帧图像到img
     cap.read(img);
 
+    // std::cout << img.type() <<  std::endl;
+
     // 执行Aruco二维码检测
     ad.detect(img, tgts);
 
diff --git a/scripts/x86-cuda/x86-opencv470-install.sh b/scripts/x86-cuda/x86-opencv470-install.sh
index df48173..414164b 100755
--- a/scripts/x86-cuda/x86-opencv470-install.sh
+++ b/scripts/x86-cuda/x86-opencv470-install.sh
@@ -28,6 +28,10 @@ sudo apt install -y libjasper1 libjasper-dev
 
 sudo apt install -y python3-dev python3-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev
 sudo apt install -y libdc1394-22-dev
+sudo apt install -y libcurl4 build-essential pkg-config cmake libopenblas-dev libeigen3-dev \
+                    libtbb-dev libavcodec-dev libavformat-dev libgstreamer-plugins-base1.0-dev \
+                    libgstreamer1.0-dev libswscale-dev libgtk-3-dev libpng-dev libjpeg-dev \
+                    libcanberra-gtk-module libcanberra-gtk3-module
 
 
 echo "\033[32m[INFO]:\033[0m unzip opencv-4.7.0.zip ..."
diff --git a/video_io/sv_video_input.cpp b/video_io/sv_video_input.cpp
index 4bdde60..2db1c8d 100644
--- a/video_io/sv_video_input.cpp
+++ b/video_io/sv_video_input.cpp
@@ -2,19 +2,16 @@
 #include <cmath>
 #include <fstream>
 
-
-
 namespace sv {
 
-
 Camera::Camera()
 {
 }
+
 Camera::~Camera()
 {
 }
 
-
 void Camera::openImpl()
 {
   if (this->_type == CameraType::WEBCAM || this->_type == CameraType::V4L2CAM)
@@ -27,7 +24,6 @@ void Camera::openImpl()
     {
       this->_cap.open(this->_camera_id);
     }
-
     if (this->_width > 0 && this->_height > 0)
     {
       this->_cap.set(cv::CAP_PROP_FRAME_WIDTH, this->_width);
@@ -82,6 +78,37 @@ void Camera::openImpl()
 #ifdef PLATFORM_JETSON
     sprintf(pipe, "rtspsrc location=rtsp://%s:%d/H264?W=%d&H=%d&FPS=%d&BR=4000000 latency=100 ! application/x-rtp,media=video ! rtph264depay ! parsebin ! nvv4l2decoder enable-max-performancegst=1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! appsink sync=false", this->_ip.c_str(), this->_port, this->_width, this->_height, this->_fps);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
+#endif
+  }
+  else if (this->_type == CameraType::GX40)
+  {
+    std::ostringstream camera_url;
+    if (this->_width <= 0 || this->_height <= 0)
+    {
+      this->_width = 1280;
+      this->_height = 720;
+    }
+    if (this->_port <= 0)
+    {
+      this->_port = 554;
+    }
+#ifdef PLATFORM_X86_CUDA
+    camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+               << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! application/x-rtp,media=video ! \
+               rtph265depay ! parsebin ! avdec_h265 ! videoscale ! video/x-raw,width=(int)" << this->_width
+               << ",height=(int)" << this->_height << " ! videoflip video-direction=4 ! videoconvert ! video/x-raw,format=(string)BGR ! \
+               appsink sync=false";
+      this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER);
+#endif
+#ifdef PLATFORM_JETSON
+    camera_url << "rtspsrc location = rtsp://user:0000@" << this->_ip << ":" << this->_port
+               << "/cam/realmonitor?channel=1&subtype=0 latency=100 ! \
+               application/x-rtp,media=video ! rtph265depay ! parsebin ! \
+               nvv4l2decoder ! nvvidconv flip-method=4 ! \
+               video/x-raw,format=(string)BGRx,width=(int)"
+               << this->_width << ",height=(int)" << this->_height << " ! videoconvert ! video/x-raw,format=(string)BGR ! \
+               appsink sync=false";
+    this->_cap.open(camera_url.str(), cv::CAP_GSTREAMER);
 #endif
   }
   else if (this->_type == CameraType::MIPI)
@@ -99,9 +126,7 @@ void Camera::openImpl()
 
     sprintf(pipe, "nvarguscamerasrc sensor-id=%d ! video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv flip-method=0 ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", this->_camera_id, this->_width, this->_height, this->_fps, this->_width, this->_height);
     this->_cap.open(pipe, cv::CAP_GSTREAMER);
- }
+  }
 }
 
-
 }
-