ardupilot/libraries/AP_Mount/AP_Mount_Backend.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Mount driver backend class. Each supported mount type
needs to have an object derived from this class.
*/
#pragma once
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#include "AP_Mount_config.h"
#if HAL_MOUNT_ENABLED
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Common/AP_Common.h>
#include <AP_Common/Location.h>
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#include <RC_Channel/RC_Channel.h>
#include <AP_Camera/AP_Camera_shareddefs.h>
#include "AP_Mount.h"
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class AP_Mount_Backend
{
public:
// Constructor
AP_Mount_Backend(class AP_Mount &frontend, class AP_Mount_Params &params, uint8_t instance) :
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_frontend(frontend),
_params(params),
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_instance(instance)
{}
// init - performs any required initialisation for this instance
virtual void init();
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// set device id of this instance, for MNTx_DEVID parameter
void set_dev_id(uint32_t id);
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// update mount position - should be called periodically
virtual void update() = 0;
// used for gimbals that need to read INS data at full rate
virtual void update_fast() {}
// return true if healthy
virtual bool healthy() const { return true; }
// return true if this mount accepts roll or pitch targets
virtual bool has_roll_control() const;
virtual bool has_pitch_control() const;
// returns true if this mount can control its pan (required for multicopters)
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virtual bool has_pan_control() const = 0;
// get attitude as a quaternion. returns true on success.
// att_quat will be an earth-frame quaternion rotated such that
// yaw is in body-frame.
virtual bool get_attitude_quaternion(Quaternion& att_quat) = 0;
// get angular velocity of mount. Only available on some backends
virtual bool get_angular_velocity(Vector3f& rates) { return false; }
// returns true if mode is a valid mode, false otherwise:
bool valid_mode(MAV_MOUNT_MODE mode) const;
// get mount's mode
enum MAV_MOUNT_MODE get_mode() const { return _mode; }
// set mount's mode
bool set_mode(enum MAV_MOUNT_MODE mode);
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// set yaw_lock used in RC_TARGETING mode. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void set_yaw_lock(bool yaw_lock) { _yaw_lock = yaw_lock; }
// set angle target in degrees
// roll and pitch are in earth-frame
// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
void set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame);
// sets rate target in deg/s
// yaw_lock should be true if the yaw rate is earth-frame, false if body-frame (e.g. rotates with body of vehicle)
void set_rate_target(float roll_degs, float pitch_degs, float yaw_degs, bool yaw_is_earth_frame);
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// set_roi_target - sets target location that mount should attempt to point towards
void set_roi_target(const Location &target_loc);
// clear_roi_target - clears target location that mount should attempt to point towards
void clear_roi_target();
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// set_sys_target - sets system that mount should attempt to point towards
void set_target_sysid(uint8_t sysid);
// handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success
MAV_RESULT handle_command_do_mount_control(const mavlink_command_int_t &packet);
// handle do_gimbal_manager_configure. Returns MAV_RESULT_ACCEPTED on success
// requires original message in order to extract caller's sysid and compid
MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
#if AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
// process MOUNT_CONFIGURE messages received from GCS. deprecated.
void handle_mount_configure(const mavlink_mount_configure_t &msg);
#endif
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#if AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED
// process MOUNT_CONTROL messages received from GCS. deprecated.
void handle_mount_control(const mavlink_mount_control_t &packet);
#endif
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// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void send_gimbal_device_attitude_status(mavlink_channel_t chan);
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// return gimbal capabilities sent to GCS in the GIMBAL_MANAGER_INFORMATION
virtual uint32_t get_gimbal_manager_capability_flags() const;
// send a GIMBAL_MANAGER_INFORMATION message to GCS
void send_gimbal_manager_information(mavlink_channel_t chan);
// send a GIMBAL_MANAGER_STATUS message to GCS
void send_gimbal_manager_status(mavlink_channel_t chan);
// handle a GIMBAL_REPORT message
virtual void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) {}
// handle a PARAM_VALUE message
virtual void handle_param_value(const mavlink_message_t &msg) {}
// handle a GLOBAL_POSITION_INT message
bool handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet);
// handle GIMBAL_DEVICE_INFORMATION message
virtual void handle_gimbal_device_information(const mavlink_message_t &msg) {}
// handle GIMBAL_DEVICE_ATTITUDE_STATUS message
virtual void handle_gimbal_device_attitude_status(const mavlink_message_t &msg) {}
// get target rate in deg/sec. returns true on success
bool get_rate_target(float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame);
// get target angle in deg. returns true on success
bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame);
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// accessors for scripting backends
virtual bool get_location_target(Location &target_loc) { return false; }
virtual void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) {};
// write mount log packet
void write_log(uint64_t timestamp_us);
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//
// camera controls for gimbals that include a camera
//
// take a picture. returns true on success
virtual bool take_picture() { return false; }
// start or stop video recording. returns true on success
// set start_recording = true to start record, false to stop recording
virtual bool record_video(bool start_recording) { return false; }
// set zoom specified as a rate or percentage
virtual bool set_zoom(ZoomType zoom_type, float zoom_value) { return false; }
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// set focus specified as rate, percentage or auto
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// focus in = -1, focus hold = 0, focus out = 1
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virtual SetFocusResult set_focus(FocusType focus_type, float focus_value) { return SetFocusResult::UNSUPPORTED; }
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// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
virtual bool set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2) { return false; }
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// set camera lens as a value from 0 to 5
virtual bool set_lens(uint8_t lens) { return false; }
#if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
// primary and secondary sources use the AP_Camera::CameraSource enum cast to uint8_t
virtual bool set_camera_source(uint8_t primary_source, uint8_t secondary_source) { return false; }
#endif
// send camera information message to GCS
virtual void send_camera_information(mavlink_channel_t chan) const {}
// send camera settings message to GCS
virtual void send_camera_settings(mavlink_channel_t chan) const {}
// send camera capture status message to GCS
virtual void send_camera_capture_status(mavlink_channel_t chan) const {}
#if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
// send camera thermal status message to GCS
virtual void send_camera_thermal_range(mavlink_channel_t chan) const {}
#endif
// change camera settings not normally used by autopilot
virtual bool change_setting(CameraSetting setting, float value) { return false; }
#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
// get poi information. Returns true on success and fills in gimbal attitude, location and poi location
bool get_poi(uint8_t instance, Quaternion &quat, Location &loc, Location &poi_loc);
#endif
//
// rangefinder
//
// get rangefinder distance. Returns true on success
virtual bool get_rangefinder_distance(float& distance_m) const { return false; }
// enable/disable rangefinder. Returns true on success
virtual bool set_rangefinder_enable(bool enable) { return false; }
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protected:
enum class MountTargetType {
ANGLE,
RATE,
};
// class for a single angle or rate target
class MountTarget {
public:
float roll;
float pitch;
float yaw;
bool yaw_is_ef;
// return body-frame yaw angle from a mount target (in radians)
float get_bf_yaw() const;
// return earth-frame yaw angle from a mount target (in radians)
float get_ef_yaw() const;
// set roll, pitch, yaw and yaw_is_ef from Vector3f
void set(const Vector3f& rpy, bool yaw_is_ef_in);
};
// options parameter bitmask handling
enum class Options : uint8_t {
RCTARGETING_LOCK_FROM_PREVMODE = (1U << 0), // RC_TARGETING mode's lock/follow state maintained from previous mode
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NEUTRAL_ON_RC_FS = (1U << 1), // move mount to netral position on RC failsafe
};
bool option_set(Options opt) const { return (_params.options.get() & (uint8_t)opt) != 0; }
// called when mount mode is RC-targetting, updates the mnt_target object from RC inputs:
void update_mnt_target_from_rc_target();
// returns true if user has configured a valid roll angle range
// allows user to disable roll even on 3-axis gimbal
bool roll_range_valid() const { return (_params.roll_angle_min < _params.roll_angle_max); }
// returns true if user has configured a valid pitch angle range
// allows user to disable pitch even on 3-axis gimbal
bool pitch_range_valid() const { return (_params.pitch_angle_min < _params.pitch_angle_max); }
// returns true if user has configured a valid yaw angle range
// allows user to disable yaw even on 3-axis gimbal
bool yaw_range_valid() const { return (_params.yaw_angle_min < _params.yaw_angle_max); }
// returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal)
virtual bool suppress_heartbeat() const { return false; }
#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
// calculate the Location that the gimbal is pointing at
void calculate_poi();
#endif
// change to RC_TARGETTING mode if rc inputs have changed by more than the dead zone
// should be called on every update
void set_rctargeting_on_rcinput_change();
// get pilot input (in the range -1 to +1) received through RC
void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;
// get angle or rate targets from pilot RC
// target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s
void get_rc_target(MountTargetType& target_type, MountTarget& rpy) const;
// get angle targets (in radians) to a Location
// returns true on success, false on failure
bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED;
// get angle targets (in radians) to ROI location
// returns true on success, false on failure
bool get_angle_target_to_roi(MountTarget& angle_rad) const WARN_IF_UNUSED;
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// get angle targets (in radians) to home location
// returns true on success, false on failure
bool get_angle_target_to_home(MountTarget& angle_rad) const WARN_IF_UNUSED;
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// get angle targets (in radians) to a vehicle with sysid of _target_sysid
// returns true on success, false on failure
bool get_angle_target_to_sysid(MountTarget& angle_rad) const WARN_IF_UNUSED;
// update angle targets using a given rate target
// the resulting angle_rad yaw frame will match the rate_rad yaw frame
// assumes a 50hz update rate
void update_angle_target_from_rate(const MountTarget& rate_rad, MountTarget& angle_rad) const;
// helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message
uint16_t get_gimbal_device_flags() const;
// sent warning to GCS
void send_warning_to_GCS(const char* warning_str);
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AP_Mount &_frontend; // reference to the front end which holds parameters
AP_Mount_Params &_params; // parameters for this backend
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uint8_t _instance; // this instance's number
MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
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bool _yaw_lock; // yaw_lock used in RC_TARGETING mode. True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame
// structure for MAVLink Targeting angle and rate targets
struct {
MountTargetType target_type;// MAVLink targeting mode's current target type (e.g. angle or rate)
MountTarget angle_rad; // angle target in radians
MountTarget rate_rads; // rate target in rad/s
} mnt_target;
#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
struct {
HAL_Semaphore sem; // semaphore protecting this structure
uint32_t poi_request_ms; // system time POI was last requested
uint32_t poi_update_ms; // system time POI was calculated
Location loc; // gimbal location used for poi calculation
Location poi_loc; // location of the POI
Quaternion att_quat; // attitude quaternion of the gimbal
} poi_calculation;
#endif
Location _roi_target; // roi target location
bool _roi_target_set; // true if the roi target has been set
uint8_t _target_sysid; // sysid to track
Location _target_sysid_location;// sysid target location
bool _target_sysid_location_set;// true if _target_sysid has been set
uint32_t _last_warning_ms; // system time of last warning sent to GCS
// structure holding the last RC inputs
struct {
bool initialised;
int16_t roll_in;
int16_t pitch_in;
int16_t yaw_in;
} last_rc_input;
// structure holding mavlink sysid and compid of controller of this gimbal
// see MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE and GIMBAL_MANAGER_STATUS
struct mavlink_control_id_t {
uint8_t sysid;
uint8_t compid;
// equality operators
bool operator==(const mavlink_control_id_t &rhs) const { return (sysid == rhs.sysid && compid == rhs.compid); }
bool operator!=(const mavlink_control_id_t &rhs) const { return !(*this == rhs); }
} mavlink_control_id;
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};
#endif // HAL_MOUNT_ENABLED