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94 lines
3.0 KiB
94 lines
3.0 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/************************************************************ |
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* AP_mount -- library to control a 2 or 3 axis mount. * |
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* * |
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* Author: Joe Holdsworth; * |
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* Ritchie Wilson; * |
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* Amilcar Lucas; * |
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* Gregory Fletcher; * |
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* * |
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* Purpose: Move a 2 or 3 axis mount attached to vehicle, * |
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* Used for mount to track targets or stabilise * |
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* camera plus other modes. * |
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* * |
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* Usage: Use in main code to control mounts attached to * |
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* vehicle. * |
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* * |
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*Comments: All angles in degrees * 100, distances in meters* |
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* unless otherwise stated. * |
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************************************************************/ |
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#ifndef AP_Mount_H |
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#define AP_Mount_H |
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#include <FastSerial.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/RC_Channel_aux.h> |
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class AP_Mount |
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{ |
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public: |
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//Constructor |
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AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs); |
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// MAVLink methods |
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void configure_msg(mavlink_message_t* msg); |
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void control_msg(mavlink_message_t* msg); |
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void status_msg(mavlink_message_t* msg); |
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void set_roi_cmd(); |
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void configure_cmd(); |
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void control_cmd(); |
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// should be called periodically |
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void update_mount_position(); |
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void debug_output(); ///< For testing and development. Called in the medium loop. |
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// Accessors |
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// hook for eeprom variables |
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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//methods |
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void set_mode(enum MAV_MOUNT_MODE mode); |
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void set_retract_angles(float roll, float pitch, float yaw); ///< set mount retracted position |
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void set_neutral_angles(float roll, float pitch, float yaw); |
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void set_control_angles(float roll, float pitch, float yaw); |
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void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location |
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// internal methods |
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void calc_GPS_target_angle(struct Location *target); |
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void calculate(); |
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long rc_map(RC_Channel_aux* rc_ch); |
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//members |
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AP_AHRS *_ahrs; ///< Rotation matrix from earth to plane. |
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GPS *&_gps; |
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const struct Location *_current_loc; |
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static const float t7 = 10000000.0; |
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float _roll_control_angle; |
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float _pitch_control_angle; |
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float _yaw_control_angle; |
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float _roll_angle; ///< degrees |
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float _pitch_angle; ///< degrees |
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float _yaw_angle; ///< degrees |
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AP_Int8 _stab_roll; ///< (1 = yes, 0 = no) |
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AP_Int8 _stab_pitch; ///< (1 = yes, 0 = no) |
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AP_Int8 _stab_yaw; ///< (1 = yes, 0 = no) |
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AP_Int8 _mount_mode; |
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struct Location _target_GPS_location; |
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AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = pitch, vector.z=yaw |
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AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = pitch, vector.z=yaw |
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AP_Vector3f _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = pitch, vector.z=yaw |
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}; |
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#endif
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