#include "remote_cmd.h"
#include <string.h>
#include "bsp\uart.h"
#include "component\crc16.h"
#include "component\crc8.h"
#include "component\user_math.h"
#include "gimbal.h"
#include "remote_control.h"
#include "shoot.h"
int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu) 
{
	if(rc_ctrl->sw[1]==200){
	g_cmd->ctrl_mode=GIMBAL_MODE_REMOTE;	
	g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
	g_cmd->delta_pit=((rc_ctrl->ch[2]-780)*(0.8/830));//806~-780,0.473~-0.71
	g_cmd->delta_yaw=((rc_ctrl->ch[0])*(1.8/800));//400~-397

	}
	else if(rc_ctrl->sw[2]==1800)
	{
	g_cmd->ctrl_mode=GIMBAL_MODE_AI;	
	g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
	}
	else if(rc_ctrl->sw[2]==200)
	{
	g_cmd->mode=GIMBAL_MODE_RELAX;
	}	
}

int8_t shoot_remote_cmd(Shoot_CMD_t *s_cmd,RC_ctrl_t *rc_ctrl,Remote_Mode *mode) 
{
//	if(rc_ctrl!=NULL){		
//		s_cmd->online=true;
//	}

		if(rc_ctrl->sw[3]==1800){		
	s_cmd->firecmd=false;
	s_cmd->ready=false;
	}

		
	if(rc_ctrl->sw[3]==1000){
	s_cmd->firecmd=false;
	s_cmd->ready=true;
	}
	 if(rc_ctrl->sw[3]==200)
	{
	s_cmd->firecmd=true;
	s_cmd->ready=true;

	}
	
	
	if(rc_ctrl->sw[4]==1800){
    mode->S_Mode= SHOOT_MODE_SAFE ;    /* 安全模式 */
	}
	 if(rc_ctrl->sw[4]==1000)
	{
    mode->S_Mode= SHOOT_MODE_SINGLE ;    /* 安全模式 */
	}
	if(rc_ctrl->sw[4]==200)
	{
   mode->S_Mode= SHOOT_MODE_CONTINUE ;    /* 安全模式 */
	}
}