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59 lines
1.7 KiB
59 lines
1.7 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_HAL/AP_HAL.h> |
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#include <AP_AHRS/AP_AHRS.h> |
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#if AP_AHRS_NAVEKF_AVAILABLE |
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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 <AP_GPS/AP_GPS.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 "AP_Mount_Backend.h" |
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#include "AP_Gimbal.h" |
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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, AP_Mount::mount_state &state, uint8_t instance); |
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// init - performs any required initialisation for this instance |
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virtual void init(const AP_SerialManager& serial_manager); |
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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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// handle a GIMBAL_REPORT message |
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virtual void handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg); |
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// send a GIMBAL_REPORT message to the GCS |
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virtual void send_gimbal_report(mavlink_channel_t chan); |
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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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AP_Gimbal _gimbal; |
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}; |
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#endif // AP_AHRS_NAVEKF_AVAILABLE |
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#endif // __AP_MOUNT_MAVLINK_H__
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