mirror of https://github.com/ArduPilot/ardupilot
97 lines
3.0 KiB
C
97 lines
3.0 KiB
C
|
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||
|
|
|
||
|
|
/************************************************************
|
||
|
|
* AP_mount -- library to control a 2 or 3 axis mount. *
|
||
|
|
* *
|
||
|
|
* Author: Joe Holdsworth; *
|
||
|
|
* Ritchie Wilson; *
|
||
|
|
* Amilcar Lucas; *
|
||
|
|
* *
|
||
|
|
* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
|
||
|
|
* Used for mount to track targets or stabilise *
|
||
|
|
* camera plus other modes. *
|
||
|
|
* *
|
||
|
|
* Usage: Use in main code to control mounts attached to *
|
||
|
|
* vehicle. *
|
||
|
|
* *
|
||
|
|
*Comments: All angles in degrees * 100, distances in meters*
|
||
|
|
* unless otherwise stated. *
|
||
|
|
************************************************************/
|
||
|
|
#ifndef AP_Mount_H
|
||
|
|
#define AP_Mount_H
|
||
|
|
|
||
|
|
//#include <AP_Common.h>
|
||
|
|
#include <AP_Math.h>
|
||
|
|
#include <AP_GPS.h>
|
||
|
|
#include <AP_DCM.h>
|
||
|
|
#include <GCS_MAVLink.h>
|
||
|
|
#include <../RC_Channel/RC_Channel_aux.h>
|
||
|
|
|
||
|
|
class AP_Mount
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
//Constructors
|
||
|
|
AP_Mount(GPS *gps, AP_DCM *dcm);
|
||
|
|
AP_Mount(GPS *gps, AP_DCM_HIL *dcm); // constructor for HIL usage
|
||
|
|
|
||
|
|
//enums
|
||
|
|
enum MountType{
|
||
|
|
k_pan_tilt = 0, ///< yaw-pitch
|
||
|
|
k_tilt_roll = 1, ///< pitch-roll
|
||
|
|
k_pan_tilt_roll = 2, ///< yaw-pitch-roll
|
||
|
|
};
|
||
|
|
|
||
|
|
// MAVLink methods
|
||
|
|
void configure_msg(mavlink_message_t* msg);
|
||
|
|
void control_msg(mavlink_message_t* msg);
|
||
|
|
void status_msg(mavlink_message_t* msg);
|
||
|
|
void set_roi_cmd();
|
||
|
|
void configure_cmd();
|
||
|
|
void control_cmd();
|
||
|
|
|
||
|
|
// should be called periodically
|
||
|
|
void update_mount_position();
|
||
|
|
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||
|
|
|
||
|
|
// Accessors
|
||
|
|
enum MountType get_mount_type();
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
//methods
|
||
|
|
void set_mode(enum MAV_MOUNT_MODE mode);
|
||
|
|
|
||
|
|
void set_retract_angles(int roll, int pitch, int yaw); ///< set mount retracted position
|
||
|
|
void set_neutral_angles(int roll, int pitch, int yaw);
|
||
|
|
void set_mavlink_angles(int roll, int pitch, int yaw);
|
||
|
|
void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
|
||
|
|
|
||
|
|
// internal methods
|
||
|
|
void calc_GPS_target_vector(struct Location *target);
|
||
|
|
long rc_map(RC_Channel_aux* rc_ch);
|
||
|
|
|
||
|
|
//members
|
||
|
|
AP_DCM *_dcm;
|
||
|
|
AP_DCM_HIL *_dcm_hil;
|
||
|
|
GPS *_gps;
|
||
|
|
|
||
|
|
int roll_angle; ///< degrees*100
|
||
|
|
int pitch_angle; ///< degrees*100
|
||
|
|
int yaw_angle; ///< degrees*100
|
||
|
|
|
||
|
|
uint8_t _stab_roll; ///< (1 = yes, 0 = no)
|
||
|
|
uint8_t _stab_pitch; ///< (1 = yes, 0 = no)
|
||
|
|
uint8_t _stab_yaw; ///< (1 = yes, 0 = no)
|
||
|
|
|
||
|
|
enum MAV_MOUNT_MODE _mount_mode;
|
||
|
|
MountType _mount_type;
|
||
|
|
|
||
|
|
struct Location _target_GPS_location;
|
||
|
|
|
||
|
|
Vector3i _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||
|
|
Vector3i _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||
|
|
Vector3i _mavlink_angles; ///< mavlink position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||
|
|
Vector3f _GPS_vector; ///< target vector calculated stored in meters
|
||
|
|
};
|
||
|
|
#endif
|