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92 lines
3.6 KiB
92 lines
3.6 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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Mount driver backend class. Each supported mount type |
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needs to have an object derived from this class. |
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*/ |
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#ifndef __AP_MOUNT_BACKEND_H__ |
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#define __AP_MOUNT_BACKEND_H__ |
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#include <AP_Common.h> |
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#include <AP_Mount.h> |
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class AP_Mount_Backend |
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{ |
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public: |
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// Constructor |
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AP_Mount_Backend(AP_Mount &frontend, AP_Mount::mount_state& state, uint8_t instance) : |
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_frontend(frontend), |
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_state(state), |
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_instance(instance) |
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{} |
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// Virtual destructor |
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virtual ~AP_Mount_Backend(void) {} |
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// init - performs any required initialisation for this instance |
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virtual void init(const AP_SerialManager& serial_manager) = 0; |
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// update mount position - should be called periodically |
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virtual void update() = 0; |
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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 = 0; |
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// set_mode - sets mount's mode |
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virtual void set_mode(enum MAV_MOUNT_MODE mode) = 0; |
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// set_roi_target - sets target location that mount should attempt to point towards |
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virtual void set_roi_target(const struct Location &target_loc); |
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// configure_msg - process MOUNT_CONFIGURE messages received from GCS |
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virtual void configure_msg(mavlink_message_t* msg); |
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// control_msg - process MOUNT_CONTROL messages received from GCS |
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virtual void control_msg(mavlink_message_t* msg); |
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// status_msg - called to allow mounts to send their status to GCS via MAVLink |
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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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protected: |
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// update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver |
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void update_targets_from_rc(); |
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// angle_input, angle_input_rad - convert RC input into an earth-frame target angle |
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int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max); |
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float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max); |
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// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target |
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void calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan); |
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// get the mount mode from frontend |
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MAV_MOUNT_MODE get_mode(void) const { return _frontend.get_mode(_instance); } |
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AP_Mount &_frontend; // reference to the front end which holds parameters |
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AP_Mount::mount_state &_state; // refernce to the parameters and state for this backend |
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uint8_t _instance; // this instance's number |
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Vector3f _angle_ef_target_rad; // desired earth-frame roll, tilt and pan angles in radians |
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}; |
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#endif // __AP_MOUNT_BACKEND_H__
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