You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
53 lines
1.9 KiB
53 lines
1.9 KiB
/* |
|
SToRM32 mount backend class |
|
*/ |
|
#pragma once |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include <AP_AHRS/AP_AHRS.h> |
|
|
|
#include <AP_Math/AP_Math.h> |
|
#include <AP_Common/AP_Common.h> |
|
#include <RC_Channel/RC_Channel.h> |
|
#include "AP_Mount_Backend.h" |
|
|
|
#define AP_MOUNT_STORM32_RESEND_MS 1000 // resend angle targets to gimbal once per second |
|
#define AP_MOUNT_STORM32_SEARCH_MS 60000 // search for gimbal for 1 minute after startup |
|
|
|
class AP_Mount_SToRM32 : public AP_Mount_Backend |
|
{ |
|
|
|
public: |
|
// Constructor |
|
AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance); |
|
|
|
// init - performs any required initialisation for this instance |
|
void init(const AP_SerialManager& serial_manager) override {} |
|
|
|
// update mount position - should be called periodically |
|
void update() override; |
|
|
|
// has_pan_control - returns true if this mount can control it's pan (required for multicopters) |
|
bool has_pan_control() const override; |
|
|
|
// set_mode - sets mount's mode |
|
void set_mode(enum MAV_MOUNT_MODE mode) override; |
|
|
|
// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message |
|
void send_mount_status(mavlink_channel_t chan) override; |
|
|
|
private: |
|
|
|
// search for gimbal in GCS_MAVLink routing table |
|
void find_gimbal(); |
|
|
|
// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message |
|
void send_do_mount_control(float pitch_deg, float roll_deg, float yaw_deg, enum MAV_MOUNT_MODE mount_mode); |
|
|
|
// internal variables |
|
bool _initialised; // true once the driver has been initialised |
|
uint8_t _sysid; // sysid of gimbal |
|
uint8_t _compid; // component id of gimbal |
|
mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal. Currently hard-coded to Telem2 |
|
uint32_t _last_send; // system time of last do_mount_control sent to gimbal |
|
};
|
|
|