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63 lines
2.0 KiB
63 lines
2.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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MAVLink enabled mount backend class |
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*/ |
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#ifndef __AP_MOUNT_MAVLINK_H__ |
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#define __AP_MOUNT_MAVLINK_H__ |
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#include <AP_Math.h> |
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#include <AP_Common.h> |
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#include <AP_GPS.h> |
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#include <AP_AHRS.h> |
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#include <GCS_MAVLink.h> |
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#include <RC_Channel.h> |
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#include <AP_Mount_Backend.h> |
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#define AP_MOUNT_MAVLINK_COMPID 10 // Use hard-coded component id to communicate with gimbal, sysid is taken from globally defined mavlink_system.sysid |
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class AP_Mount_MAVLink : public AP_Mount_Backend |
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{ |
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public: |
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// Constructor |
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AP_Mount_MAVLink(AP_Mount &frontend, uint8_t instance) : |
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AP_Mount_Backend(frontend, instance), |
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_enabled(false), |
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_chan(MAVLINK_COMM_0), |
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_last_mode(MAV_MOUNT_MODE_RETRACT) |
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{} |
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// init - performs any required initialisation for this instance |
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virtual void init(); |
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// update mount position - should be called periodically |
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virtual void update(); |
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters) |
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virtual bool has_pan_control() const; |
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// set_mode - sets mount's mode |
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virtual void set_mode(enum MAV_MOUNT_MODE mode); |
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// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message |
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virtual void status_msg(mavlink_channel_t chan); |
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private: |
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// find_mount - search for MAVLink enabled mount |
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void find_mount(); |
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// send_angle_target - send earth-frame angle targets to mount |
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// set target_in_degrees to true to send degree targets, false if target in radians |
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void send_angle_target(const Vector3f& target, bool target_in_degrees); |
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// internal variables |
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bool _enabled; // gimbal becomes enabled once the mount has been discovered |
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mavlink_channel_t _chan; // telemetry channel used to communicate with mount |
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enum MAV_MOUNT_MODE _last_mode; // last mode sent to mount |
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Vector3f _last_angle_target; // last angle target sent to mount |
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}; |
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#endif // __AP_MOUNT_MAVLINK_H__
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