mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.9 KiB
C
59 lines
1.9 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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SToRM32 mount backend class
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*/
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#ifndef __AP_MOUNT_STORM32_H__
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#define __AP_MOUNT_STORM32_H__
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#include <AP_HAL.h>
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#include <AP_AHRS.h>
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#include <AP_Math.h>
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#include <AP_Common.h>
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#include <AP_GPS.h>
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#include <GCS_MAVLink.h>
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#include <RC_Channel.h>
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#include <AP_Mount_Backend.h>
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#define AP_MOUNT_STORM32_SYSID 71 // hardcoded system id
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#define AP_MOUNT_STORM32_COMPID 67 // hard coded component id for communicating with the gimbal
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#define AP_MOUNT_STORM32_RESEND_MS 1000 // resend angle targets to gimbal once per second
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class AP_Mount_SToRM32 : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
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// init - performs any required initialisation for this instance
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virtual void init(const AP_SerialManager& serial_manager);
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// update mount position - should be called periodically
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virtual void update();
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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virtual bool has_pan_control() const;
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode);
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// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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virtual void status_msg(mavlink_channel_t chan);
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private:
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// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message
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void send_do_mount_control(float pitch_deg, float roll_deg, float yaw_deg, enum MAV_MOUNT_MODE mount_mode);
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// internal variables
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bool _initialised; // true once the driver has been initialised
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mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal. Currently hard-coded to Telem2
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uint32_t _last_send; // system time of last do_mount_control sent to gimbal
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};
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#endif // __AP_MOUNT_STORM32_H__
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