rotate

  @Action(GimbalKeys.ROTATE)
    public void rotate(InnerCallback callback, final Rotation rotation) {

        if (rotation == null) {
            CallbackUtils.onFailure(callback, DJIGimbalError.COMMON_PARAM_ILLEGAL);
            return;
        }

        if (rotation.getMode() == null) {
            callback.onFails(DJIError.COMMON_PARAM_ILLEGAL);
            return;
        }


        if ((rotation.getPitch() != Rotation.NO_ROTATION && !gimbalCapability.get(CapabilityKey.ADJUST_PITCH).isSuppported())
            ||
            (rotation.getRoll() != Rotation.NO_ROTATION && !gimbalCapability.get(CapabilityKey.ADJUST_ROLL).isSuppported())
            ||
            (rotation.getYaw() != Rotation.NO_ROTATION && !gimbalCapability.get(CapabilityKey.ADJUST_YAW).isSuppported())) {
            callback.onFails(DJIError.COMMON_PARAM_ILLEGAL);
            return;
        }

        if (rotation.getMode() == RotationMode.ABSOLUTE_ANGLE || rotation.getMode() == RotationMode.RELATIVE_ANGLE) {

            double time = rotation.getTime();
            if (time > 25.5) time = 25.5;
            if (time < 0.1) time = 0.1;

            DataGimbalAbsAngleControl absAngleControl = DataGimbalAbsAngleControl.getInstance().setControlMode(true);
            absAngleControl.setPitch((short) 0);
            absAngleControl.setRoll((short) 0);
            absAngleControl.setYaw((short) 0);
            //pitch
            if (rotation.getPitch() != Rotation.NO_ROTATION ) {
                if (rotation.getMode() == RotationMode.ABSOLUTE_ANGLE) {
                    short needSetPitch;
                    float angle = rotation.getPitch();
                    if (angle < getMinValueFromCapability(ADJUST_PITCH).intValue() || angle > getMaxValueFromCapability(
                        ADJUST_PITCH).intValue()) {
                        if (null != callback) callback.onFails(DJIError.COMMON_PARAM_ILLEGAL);
                        return;
                    }
                    needSetPitch = (short) (angle * 10);
                    absAngleControl.setPitch(needSetPitch);
                    absAngleControl.setPitchInvalid(false);
                    absAngleControl.setControlMode(true);  //ABSOLUTE_ANGLE
                } else if (rotation.getMode() == RotationMode.RELATIVE_ANGLE) {
                    short needSetPitch;
                    float angle = rotation.getPitch();
                    needSetPitch = (short) (angle * 10);
                    absAngleControl.setPitch(needSetPitch);
                    absAngleControl.setPitchInvalid(false);
                    absAngleControl.setControlMode(false);  //RELATIVE_ANGLE
                }
            } else {
                absAngleControl.setPitchInvalid(true);
            }
            //resetGimbalAbsAnglControl(absAngleControl);
            //roll
            if (rotation.getRoll() != Rotation.NO_ROTATION ) {
                if (rotation.getMode() == RotationMode.ABSOLUTE_ANGLE) {

                    short needSetRoll;
                    float angle = rotation.getRoll();
                    if (angle < getMinValueFromCapability(CapabilityKey.ADJUST_ROLL).intValue()
                        || angle > getMaxValueFromCapability(CapabilityKey.ADJUST_ROLL).intValue()) {
                        if (null != callback) callback.onFails(DJIError.COMMON_PARAM_ILLEGAL);
                        return;
                    }
                    needSetRoll = (short) (angle * 10);
                    absAngleControl.setRoll(needSetRoll);
                    absAngleControl.setRollInvalid(false);
                    absAngleControl.setControlMode(true);
                } else if (rotation.getMode() == RotationMode.RELATIVE_ANGLE) {
                    short needSetRoll;
                    float angle = rotation.getRoll();
                    needSetRoll = (short) (angle * 10);
                    absAngleControl.setRoll(needSetRoll);
                    absAngleControl.setRollInvalid(false);
                    absAngleControl.setControlMode(false);
                }
            } else {
                absAngleControl.setRollInvalid(true);
            }

            //        resetGimbalAbsAnglControl(absAngleControl);
            //yaw
            if (rotation.getYaw() != Rotation.NO_ROTATION ) {
                if (rotation.getMode() == RotationMode.ABSOLUTE_ANGLE) {

                    short needSetYaw;
                    float angle = rotation.getYaw();
                    if (angle < getMinValueFromCapability(CapabilityKey.ADJUST_YAW).intValue()
                        || angle > getMaxValueFromCapability(CapabilityKey.ADJUST_YAW).intValue()) {
                        if (null != callback) {
                            callback.onFails(DJIError.COMMON_PARAM_ILLEGAL);
                        }
                        return;
                    }
                    needSetYaw = (short) (angle * 10);
                    absAngleControl.setYaw(needSetYaw);
                    absAngleControl.setYawInvalid(false);
                    absAngleControl.setControlMode(true);
                } else if (rotation.getMode() == RotationMode.RELATIVE_ANGLE) {
                    short needSetYaw;
                    float angle = rotation.getYaw();
                    needSetYaw = (short) (angle * 10);
                    absAngleControl.setYaw(needSetYaw);
                    absAngleControl.setYawInvalid(false);
                    absAngleControl.setControlMode(false);
                }
            } else {
                absAngleControl.setYawInvalid(true);
            }
            absAngleControl.setOvertime((int) (time * 10f));
            absAngleControl.start();
            CallbackUtils.onSuccess(callback, null);
            return;
        }

        if (rotation.getMode() == RotationMode.SPEED) {
            DataGimbalSpeedControl.getInstance()
                                  .setPitch((int) rotation.getPitch() * 10);
            DataGimbalSpeedControl.getInstance()
                                  .setRoll((int) rotation.getRoll() * 10);
            DataGimbalSpeedControl.getInstance()
                                  .setYaw((int) rotation.getYaw() * 10);

            DataGimbalSpeedControl.getInstance()
                                  .setPermission(rotation.getPitch() != 0
                                                     || rotation.getRoll() != 0
                                                     || rotation.getYaw() != 0);
            DataGimbalSpeedControl.getInstance().start();

            CallbackUtils.onSuccess(callback, null);
            return;
        }

    }