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96 lines
3.0 KiB
96 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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* * |
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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 <AP_Common.h> |
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#include <AP_Math.h> |
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#include <AP_GPS.h> |
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#include <AP_DCM.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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//Constructors |
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AP_Mount(GPS *gps, AP_DCM *dcm); |
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AP_Mount(GPS *gps, AP_DCM_HIL *dcm); // constructor for HIL usage |
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//enums |
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enum MountType{ |
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k_pan_tilt = 0, ///< yaw-pitch |
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k_tilt_roll = 1, ///< pitch-roll |
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k_pan_tilt_roll = 2, ///< yaw-pitch-roll |
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}; |
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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 update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos |
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// Accessors |
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enum MountType get_mount_type(); |
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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(int roll, int pitch, int yaw); ///< set mount retracted position |
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void set_neutral_angles(int roll, int pitch, int yaw); |
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void set_mavlink_angles(int roll, int pitch, int 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_vector(struct Location *target); |
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long rc_map(RC_Channel_aux* rc_ch); |
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//members |
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AP_DCM *_dcm; |
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AP_DCM_HIL *_dcm_hil; |
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GPS *_gps; |
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int roll_angle; ///< degrees*100 |
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int pitch_angle; ///< degrees*100 |
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int yaw_angle; ///< degrees*100 |
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uint8_t _stab_roll; ///< (1 = yes, 0 = no) |
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uint8_t _stab_pitch; ///< (1 = yes, 0 = no) |
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uint8_t _stab_yaw; ///< (1 = yes, 0 = no) |
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enum MAV_MOUNT_MODE _mount_mode; |
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MountType _mount_type; |
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struct Location _target_GPS_location; |
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Vector3i _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = pitch, vector.z=yaw |
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Vector3i _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = pitch, vector.z=yaw |
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Vector3i _mavlink_angles; ///< mavlink position for mount, vector.x = roll vector.y = pitch, vector.z=yaw |
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Vector3f _GPS_vector; ///< target vector calculated stored in meters |
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}; |
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#endif
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