mirror of https://github.com/ArduPilot/ardupilot
312 lines
12 KiB
C++
312 lines
12 KiB
C++
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#include "AP_Mount_Gremsy.h"
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#if HAL_MOUNT_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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#define AP_MOUNT_GREMSY_RESEND_MS 1000 // resend angle targets to gimbal at least once per second
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#define AP_MOUNT_GREMSY_SEARCH_MS 60000 // search for gimbal for 1 minute after startup
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#define AP_MOUNT_GREMSY_ATTITUDE_INTERVAL_US 10000 // send ATTITUDE and AUTOPILOT_STATE_FOR_GIMBAL_DEVICE at 100hz
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AP_Mount_Gremsy::AP_Mount_Gremsy(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
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AP_Mount_Backend(frontend, state, instance)
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{}
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// update mount position
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void AP_Mount_Gremsy::update()
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{
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// exit immediately if not initialised
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if (!_initialised) {
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find_gimbal();
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return;
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}
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// update based on mount mode
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switch (get_mode()) {
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// move mount to a "retracted" position. We disable motors
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case MAV_MOUNT_MODE_RETRACT:
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// handled below
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enable_motors(false);
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break;
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// move mount to a neutral position, typically pointing forward
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case MAV_MOUNT_MODE_NEUTRAL: {
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const Vector3f &target = _state._neutral_angles.get();
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_angle_ef_target_rad.x = ToRad(target.x);
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_angle_ef_target_rad.y = ToRad(target.y);
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_angle_ef_target_rad.z = ToRad(target.z);
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send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, false);
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}
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break;
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// point to the angles given by a mavlink message
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case MAV_MOUNT_MODE_MAVLINK_TARGETING:
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// angle targets should have been set by a MOUNT_CONTROL message from GCS
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send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, true);
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break;
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// RC radio manual angle control, but with stabilization from the AHRS
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case MAV_MOUNT_MODE_RC_TARGETING:
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// update targets using pilot's rc inputs
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update_targets_from_rc();
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if (_rate_target_rads_valid) {
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send_gimbal_device_set_rate(_rate_target_rads.x, _rate_target_rads.y, _rate_target_rads.z, _state._yaw_lock);
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} else {
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send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, _state._yaw_lock);
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}
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break;
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// point mount to a GPS point given by the mission planner
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case MAV_MOUNT_MODE_GPS_POINT:
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if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true, false)) {
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send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, true);
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}
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break;
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case MAV_MOUNT_MODE_HOME_LOCATION:
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// constantly update the home location:
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if (!AP::ahrs().home_is_set()) {
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break;
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}
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_state._roi_target = AP::ahrs().get_home();
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_state._roi_target_set = true;
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if (calc_angle_to_roi_target(_angle_ef_target_rad, true, true, false)) {
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send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, true);
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}
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break;
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case MAV_MOUNT_MODE_SYSID_TARGET:
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if (calc_angle_to_sysid_target(_angle_ef_target_rad, true, true, false)) {
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send_gimbal_device_set_attitude(_angle_ef_target_rad.x, _angle_ef_target_rad.y, _angle_ef_target_rad.z, true);
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}
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break;
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default:
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// unknown mode so do nothing
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break;
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}
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}
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// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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void AP_Mount_Gremsy::send_mount_status(mavlink_channel_t chan)
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{
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// check we have space for the message
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if (!HAVE_PAYLOAD_SPACE(chan, GIMBAL_DEVICE_ATTITUDE_STATUS)) {
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return;
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}
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// check we have received an updated message
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if (_gimbal_device_attitude_status.time_boot_ms == _sent_gimbal_device_attitude_status_ms) {
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return;
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}
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_sent_gimbal_device_attitude_status_ms = _gimbal_device_attitude_status.time_boot_ms;
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// forward on message to GCS
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mavlink_msg_gimbal_device_attitude_status_send(chan,
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0, // target system
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0, // target component
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AP_HAL::millis(), // autopilot system time
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_gimbal_device_attitude_status.flags,
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_gimbal_device_attitude_status.q,
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_gimbal_device_attitude_status.angular_velocity_x,
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_gimbal_device_attitude_status.angular_velocity_y,
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_gimbal_device_attitude_status.angular_velocity_z,
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_gimbal_device_attitude_status.failure_flags);
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}
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// search for gimbal in GCS_MAVLink routing table
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void AP_Mount_Gremsy::find_gimbal()
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{
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// do not look for gimbal for first 10 seconds so user may see banner
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if (AP_HAL::millis() < 10000) {
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return;
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}
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// return if search time has has passed
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if (AP_HAL::millis() > AP_MOUNT_GREMSY_SEARCH_MS) {
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return;
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}
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// search for a mavlink enabled gimbal
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if (!_found_gimbal) {
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mavlink_channel_t chan;
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uint8_t sysid, compid;
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if (GCS_MAVLINK::find_by_mavtype(MAV_TYPE_GIMBAL, sysid, compid, chan)) {
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if (((_instance == 0) && (compid == MAV_COMP_ID_GIMBAL)) ||
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((_instance == 1) && (compid == MAV_COMP_ID_GIMBAL2))) {
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_found_gimbal = true;
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_sysid = sysid;
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_compid = compid;
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_chan = chan;
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}
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} else {
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// have not yet found a gimbal so return
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return;
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}
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}
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// request GIMBAL_DEVICE_INFORMATION
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if (!_got_device_info) {
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uint32_t now_ms = AP_HAL::millis();
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if (now_ms - _last_devinfo_req_ms > 1000) {
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_last_devinfo_req_ms = now_ms;
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request_gimbal_device_information();
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}
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return;
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}
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// start sending autopilot attitude to gimbal
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if (start_sending_attitude_to_gimbal()) {
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_initialised = true;
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}
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}
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// handle GIMBAL_DEVICE_INFORMATION message
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void AP_Mount_Gremsy::handle_gimbal_device_information(const mavlink_message_t &msg)
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{
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// exit immediately if this is not our message
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if (msg.sysid != _sysid || msg.compid != _compid) {
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return;
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}
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mavlink_gimbal_device_information_t info;
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mavlink_msg_gimbal_device_information_decode(&msg, &info);
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// set parameter defaults from gimbal information
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_state._roll_angle_min.set_default(degrees(info.roll_min) * 100);
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_state._roll_angle_max.set_default(degrees(info.roll_max) * 100);
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_state._tilt_angle_min.set_default(degrees(info.pitch_min) * 100);
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_state._tilt_angle_max.set_default(degrees(info.pitch_max) * 100);
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_state._pan_angle_min.set_default(degrees(info.yaw_min) * 100);
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_state._pan_angle_max.set_default(degrees(info.yaw_max) * 100);
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const uint8_t fw_ver_major = info.firmware_version & 0x000000FF;
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const uint8_t fw_ver_minor = (info.firmware_version & 0x0000FF00) >> 8;
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const uint8_t fw_ver_revision = (info.firmware_version & 0x00FF0000) >> 16;
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const uint8_t fw_ver_build = (info.firmware_version & 0xFF000000) >> 24;
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// display gimbal info to user
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gcs().send_text(MAV_SEVERITY_INFO, "Mount: %s %s fw:%u.%u.%u.%u",
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info.vendor_name,
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info.model_name,
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(unsigned)fw_ver_major,
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(unsigned)fw_ver_minor,
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(unsigned)fw_ver_revision,
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(unsigned)fw_ver_build);
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_got_device_info = true;
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}
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// handle GIMBAL_DEVICE_ATTITUDE_STATUS message
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void AP_Mount_Gremsy::handle_gimbal_device_attitude_status(const mavlink_message_t &msg)
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{
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// exit immediately if this is not our message
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if (msg.sysid != _sysid || msg.compid != _compid) {
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return;
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}
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// take copy of message so it can be forwarded onto GCS later
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mavlink_msg_gimbal_device_attitude_status_decode(&msg, &_gimbal_device_attitude_status);
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}
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// request GIMBAL_DEVICE_INFORMATION message
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void AP_Mount_Gremsy::request_gimbal_device_information() const
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{
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// check we have space for the message
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if (!HAVE_PAYLOAD_SPACE(_chan, COMMAND_LONG)) {
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return;
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}
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mavlink_msg_command_long_send(
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_chan,
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_sysid,
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_compid,
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MAV_CMD_REQUEST_MESSAGE,
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0, MAVLINK_MSG_ID_GIMBAL_DEVICE_INFORMATION, 0, 0, 0, 0, 0, 0);
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}
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// start sending ATTITUDE and AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to gimbal
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bool AP_Mount_Gremsy::start_sending_attitude_to_gimbal()
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{
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// send AUTOPILOT_STATE_FOR_GIMBAL_DEVICE
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const MAV_RESULT res = gcs().set_message_interval(_chan, MAVLINK_MSG_ID_AUTOPILOT_STATE_FOR_GIMBAL_DEVICE, AP_MOUNT_GREMSY_ATTITUDE_INTERVAL_US);
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// return true on success
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return (res == MAV_RESULT_ACCEPTED);
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}
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// send GIMBAL_DEVICE_SET_ATTITUDE to gimbal to control rate
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// earth_frame should be true if yaw_rads target is an earth frame rate, false if body_frame
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void AP_Mount_Gremsy::send_gimbal_device_set_rate(float roll_rads, float pitch_rads, float yaw_rads, bool earth_frame) const
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{
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// check we have space for the message
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if (!HAVE_PAYLOAD_SPACE(_chan, GIMBAL_DEVICE_SET_ATTITUDE)) {
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return;
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}
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// prepare flags
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const uint16_t flags = earth_frame ? (GIMBAL_DEVICE_FLAGS_ROLL_LOCK | GIMBAL_DEVICE_FLAGS_PITCH_LOCK | GIMBAL_DEVICE_FLAGS_YAW_LOCK) : 0;
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const float quat_array[4] = {NAN, NAN, NAN, NAN};
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// send command_long command containing a do_mount_control command
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mavlink_msg_gimbal_device_set_attitude_send(_chan,
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_sysid, // target system
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_compid, // target component
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flags, // gimbal device flags
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quat_array, // attitude as a quaternion
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roll_rads, pitch_rads, yaw_rads); // angular velocities
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}
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// send GIMBAL_DEVICE_SET_ATTITUDE to gimbal to control attitude
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// earth_frame should be true if yaw_rad target is in earth frame angle, false if body_frame
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void AP_Mount_Gremsy::send_gimbal_device_set_attitude(float roll_rad, float pitch_rad, float yaw_rad, bool earth_frame) const
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{
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// exit immediately if not initialised
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if (!_initialised) {
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return;
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}
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// check we have space for the message
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if (!HAVE_PAYLOAD_SPACE(_chan, GIMBAL_DEVICE_SET_ATTITUDE)) {
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return;
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}
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// prepare flags
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const uint16_t flags = earth_frame ? (GIMBAL_DEVICE_FLAGS_ROLL_LOCK | GIMBAL_DEVICE_FLAGS_PITCH_LOCK | GIMBAL_DEVICE_FLAGS_YAW_LOCK) : 0;
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// convert euler angles to quaternion
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Quaternion q;
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q.from_euler(roll_rad, pitch_rad, yaw_rad);
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const float quat_array[4] = {q.q1, q.q2, q.q3, q.q4};
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// send command_long command containing a do_mount_control command
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mavlink_msg_gimbal_device_set_attitude_send(_chan,
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_sysid, // target system
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_compid, // target component
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flags, // gimbal device flags
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quat_array, // attitude as a quaternion
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NAN, NAN, NAN); // angular velocities
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}
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// turn motors on/off
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void AP_Mount_Gremsy::enable_motors(bool on) const
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{
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// check we have space for the message
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if (!HAVE_PAYLOAD_SPACE(_chan, COMMAND_LONG)) {
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return;
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}
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// send COMPMAND_LONG with MAV_CMD_USER_1 command with Param7 populated to turn on/off motor
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mavlink_msg_command_long_send(_chan,
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_sysid,
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_compid,
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MAV_CMD_USER_1,
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0, // confirmation of zero means this is the first time this message has been sent
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0, 0, 0, 0, 0, 0, // param1 to param6 unused
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on ? 0x01 : 0x00);// 0=OFF, 1=ON
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}
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#endif // HAL_MOUNT_ENABLED
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