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63 lines
1.8 KiB
63 lines
1.8 KiB
/* |
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MAVLink enabled mount backend class |
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*/ |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#include "AP_Mount_Backend.h" |
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#if HAL_SOLO_GIMBAL_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 <GCS_MAVLink/GCS_MAVLink.h> |
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#include <RC_Channel/RC_Channel.h> |
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#include "SoloGimbal.h" |
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class AP_Mount_SoloGimbal : public AP_Mount_Backend |
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{ |
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public: |
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// Constructor |
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AP_Mount_SoloGimbal(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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// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message |
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void send_mount_status(mavlink_channel_t chan) override; |
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// handle a GIMBAL_REPORT message |
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void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) override; |
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void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg); |
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void handle_param_value(const mavlink_message_t &msg) override; |
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// send a GIMBAL_REPORT message to the GCS |
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void send_gimbal_report(mavlink_channel_t chan) override; |
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void update_fast() override; |
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private: |
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// internal variables |
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bool _initialised; // true once the driver has been initialised |
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// Write a gimbal measurament and estimation data packet |
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void Log_Write_Gimbal(SoloGimbal &gimbal); |
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bool _params_saved; |
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SoloGimbal _gimbal; |
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}; |
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#endif // HAL_SOLO_GIMBAL_ENABLED
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