control roi position and velocity

def cmd_gimbal_roi_vel(self, args):
        '''control roi position and velocity'''
        if len(args) != 0 and len(args) != 3 and len(args) != 6:
            print("usage: gimbal roivel [VEL_NORTH VEL_EAST VEL_DOWN] [ACC_NORTH ACC_EASY ACC_DOWN]")
            return
        latlon = None
        vel = [0,0,0]
        acc = [0,0,0]
        if (len(args) >= 3):
            vel[0:3] = args[0:3]
        if (len(args) == 6):
            acc[0:3] = args[3:6]
        try:
            latlon = self.module('map').click_position
        except Exception:
            print("No map available")
            return
        if latlon is None:
            print("No map click position available")
            latlon = (0,0,0)
        self.master.mav.set_roi_global_int_send(0, #time_boot_ms
            1, #target_system
            1, #target_component
            mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
            0, #type_mask
            0, #roi_index
            0, #timeout_ms
            int(latlon[0]*1e7), #lat int
            int(latlon[1]*1e7), #lng int
            float(0),       #alt
            float(vel[0]), #vx
            float(vel[1]), #vy
            float(vel[2]), #vz
            float(acc[0]), #ax
            float(acc[1]), #ay
            float(acc[2]))