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59 lines
1.8 KiB
59 lines
1.8 KiB
/* |
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SToRM32 mount backend class |
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*/ |
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#pragma once |
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#include "AP_Mount_Backend.h" |
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#ifndef HAL_MOUNT_STORM32MAVLINK_ENABLED |
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#define HAL_MOUNT_STORM32MAVLINK_ENABLED HAL_MOUNT_ENABLED |
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#endif |
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#if HAL_MOUNT_STORM32MAVLINK_ENABLED |
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#include <AP_Math/AP_Math.h> |
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#include <AP_Common/AP_Common.h> |
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#include <RC_Channel/RC_Channel.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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class AP_Mount_SToRM32 : public AP_Mount_Backend |
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{ |
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public: |
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// Constructor |
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AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance); |
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// init - performs any required initialisation for this instance |
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void init() override {} |
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// update mount position - should be called periodically |
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void update() override; |
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters) |
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bool has_pan_control() const override; |
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// set_mode - sets mount's mode |
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void set_mode(enum MAV_MOUNT_MODE mode) override; |
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protected: |
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// get attitude as a quaternion. returns true on success |
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bool get_attitude_quaternion(Quaternion& att_quat) override; |
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private: |
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// search for gimbal in GCS_MAVLink routing table |
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void find_gimbal(); |
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// send_do_mount_control with latest angle targets |
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void send_do_mount_control(const MountTarget& angle_target_rad); |
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// internal variables |
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bool _initialised; // true once the driver has been initialised |
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uint8_t _sysid; // sysid of gimbal |
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uint8_t _compid; // component id of gimbal |
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mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal |
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uint32_t _last_send; // system time of last do_mount_control sent to gimbal |
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MountTarget _angle_rad; // latest angle target |
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}; |
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#endif // HAL_MOUNT_STORM32MAVLINK_ENABLED
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