ardupilot/libraries/AP_Mount/AP_Mount_MAVLink.cpp

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#include <AP_Mount_MAVLink.h>
#if AP_AHRS_NAVEKF_AVAILABLE
#include <GCS_MAVLink.h>
#include <stdio.h>
#include <AP_Gimbal.h>

#if MOUNT_DEBUG
#include <stdio.h>
#endif

AP_Mount_MAVLink::AP_Mount_MAVLink(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
    AP_Mount_Backend(frontend, state, instance),
    _initialised(false),
    _gimbal(frontend._ahrs, MAV_COMP_ID_GIMBAL, _state._gimbalParams)
{}

// init - performs any required initialisation for this instance
void AP_Mount_MAVLink::init(const AP_SerialManager& serial_manager)
{
    _initialised = true;
    set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());
}

// update mount position - should be called periodically
void AP_Mount_MAVLink::update()
{
    // exit immediately if not initialised
    if (!_initialised) {
        return;
    }

    // update based on mount mode
    switch(get_mode()) {
        // move mount to a "retracted" position.  we do not implement a separate servo based retract mechanism
        case MAV_MOUNT_MODE_RETRACT:
            break;

        // move mount to a neutral position, typically pointing forward
        case MAV_MOUNT_MODE_NEUTRAL:
            break;

        // point to the angles given by a mavlink message
        case MAV_MOUNT_MODE_MAVLINK_TARGETING:
            // do nothing because earth-frame angle targets (i.e. _angle_ef_target_rad) should have already been set by a MOUNT_CONTROL message from GCS
            break;

        // RC radio manual angle control, but with stabilization from the AHRS
        case MAV_MOUNT_MODE_RC_TARGETING:
            // update targets using pilot's rc inputs
            update_targets_from_rc();
            break;

        // point mount to a GPS point given by the mission planner
        case MAV_MOUNT_MODE_GPS_POINT:
            if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
                calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, true);
            }
            break;

        default:
            // we do not know this mode so do nothing
            break;
    }
}

// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
bool AP_Mount_MAVLink::has_pan_control() const
{
    // we do not have yaw control
    return false;
}

// set_mode - sets mount's mode
void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode)
{
    // exit immediately if not initialised
    if (!_initialised) {
        return;
    }

    // record the mode change
    _state._mode = mode;
}

// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan)
{
    Vector3f est = _gimbal.getGimbalEstimateEF();
    mavlink_msg_mount_status_send(chan, 0, 0, degrees(est.y)*100, degrees(est.x)*100, degrees(est.z)*100);
}

/*
  handle a GIMBAL_REPORT message
 */
void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg)
{
    _gimbal.update_target(_angle_ef_target_rad);
    _gimbal.receive_feedback(chan,msg);
}

/*
  send a GIMBAL_REPORT message to the GCS
 */
void AP_Mount_MAVLink::send_gimbal_report(mavlink_channel_t chan)
{
    _gimbal.send_report(chan);
}

#endif // AP_AHRS_NAVEKF_AVAILABLE