ardupilot/libraries/AP_Mount/AP_Mount_SToRM32.cpp

181 lines
5.9 KiB
C++
Raw Normal View History

#include "AP_Mount_SToRM32.h"
#if HAL_MOUNT_STORM32MAVLINK_ENABLED
#include <AP_HAL/AP_HAL.h>
2019-02-14 02:10:18 -04:00
#include <GCS_MAVLink/GCS.h>
2015-02-14 08:27:32 -04:00
extern const AP_HAL::HAL& hal;
#define AP_MOUNT_STORM32_RESEND_MS 1000 // resend angle targets to gimbal once per second
#define AP_MOUNT_STORM32_SEARCH_MS 60000 // search for gimbal for 1 minute after startup
2015-02-14 08:27:32 -04:00
AP_Mount_SToRM32::AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
AP_Mount_Backend(frontend, state, instance),
_chan(MAVLINK_COMM_0)
2015-02-14 08:27:32 -04:00
{}
// update mount position - should be called periodically
void AP_Mount_SToRM32::update()
{
// exit immediately if not initialised
if (!_initialised) {
find_gimbal();
2015-02-14 08:27:32 -04:00
return;
}
// flag to trigger sending target angles to gimbal
bool resend_now = false;
// update based on mount mode
switch(get_mode()) {
// move mount to a "retracted" position. To-Do: remove support and replace with a relaxed mode?
case MAV_MOUNT_MODE_RETRACT: {
2015-02-14 08:27:32 -04:00
const Vector3f &target = _state._retract_angles.get();
_angle_rad.roll = radians(target.x);
_angle_rad.pitch = radians(target.y);
_angle_rad.yaw = radians(target.z);
_angle_rad.yaw_is_ef = false;
2015-02-14 08:27:32 -04:00
break;
}
2015-02-14 08:27:32 -04:00
// move mount to a neutral position, typically pointing forward
case MAV_MOUNT_MODE_NEUTRAL: {
2015-02-14 08:27:32 -04:00
const Vector3f &target = _state._neutral_angles.get();
_angle_rad.roll = radians(target.x);
_angle_rad.pitch = radians(target.y);
_angle_rad.yaw = radians(target.z);
_angle_rad.yaw_is_ef = false;
2015-02-14 08:27:32 -04:00
break;
}
2015-02-14 08:27:32 -04:00
// point to the angles given by a mavlink message
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
switch (mavt_target.target_type) {
case MountTargetType::ANGLE:
_angle_rad = mavt_target.angle_rad;
break;
case MountTargetType::RATE:
update_angle_target_from_rate(mavt_target.rate_rads, _angle_rad);
break;
}
resend_now = true;
2015-02-14 08:27:32 -04:00
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
MountTarget rc_target {};
if (get_rc_rate_target(rc_target)) {
update_angle_target_from_rate(rc_target, _angle_rad);
} else if (get_rc_angle_target(rc_target)) {
_angle_rad = rc_target;
}
2015-02-14 08:27:32 -04:00
resend_now = true;
break;
}
2015-02-14 08:27:32 -04:00
// point mount to a GPS location
2015-02-14 08:27:32 -04:00
case MAV_MOUNT_MODE_GPS_POINT:
if (get_angle_target_to_roi(_angle_rad)) {
2015-02-14 08:27:32 -04:00
resend_now = true;
}
break;
case MAV_MOUNT_MODE_HOME_LOCATION:
if (get_angle_target_to_home(_angle_rad)) {
resend_now = true;
}
break;
2019-03-16 04:06:02 -03:00
case MAV_MOUNT_MODE_SYSID_TARGET:
if (get_angle_target_to_sysid(_angle_rad)) {
2019-03-16 04:06:02 -03:00
resend_now = true;
}
break;
2015-02-14 08:27:32 -04:00
default:
// we do not know this mode so do nothing
break;
}
// resend target angles at least once per second
if (resend_now || ((AP_HAL::millis() - _last_send) > AP_MOUNT_STORM32_RESEND_MS)) {
send_do_mount_control(_angle_rad);
2015-02-14 08:27:32 -04:00
}
}
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
bool AP_Mount_SToRM32::has_pan_control() const
{
// we do not have yaw control
return false;
}
// set_mode - sets mount's mode
void AP_Mount_SToRM32::set_mode(enum MAV_MOUNT_MODE mode)
{
// exit immediately if not initialised
if (!_initialised) {
return;
}
// record the mode change
_mode = mode;
2015-02-14 08:27:32 -04:00
}
// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_SToRM32::send_mount_status(mavlink_channel_t chan)
2015-02-14 08:27:32 -04:00
{
// return target angles as gimbal's actual attitude. To-Do: retrieve actual gimbal attitude and send these instead
mavlink_msg_mount_status_send(chan, 0, 0, degrees(_angle_rad.pitch)*100, degrees(_angle_rad.roll)*100, degrees(get_bf_yaw_angle(_angle_rad))*100, _mode);
2015-02-14 08:27:32 -04:00
}
// search for gimbal in GCS_MAVLink routing table
void AP_Mount_SToRM32::find_gimbal()
{
// return immediately if initialised
if (_initialised) {
return;
}
// return if search time has has passed
if (AP_HAL::millis() > AP_MOUNT_STORM32_SEARCH_MS) {
return;
}
if (GCS_MAVLINK::find_by_mavtype(MAV_TYPE_GIMBAL, _sysid, _compid, _chan)) {
_initialised = true;
}
}
2015-02-14 08:27:32 -04:00
// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message
void AP_Mount_SToRM32::send_do_mount_control(const MountTarget& angle_target_rad)
2015-02-14 08:27:32 -04:00
{
// exit immediately if not initialised
if (!_initialised) {
return;
}
// check we have space for the message
2016-04-05 01:10:41 -03:00
if (!HAVE_PAYLOAD_SPACE(_chan, COMMAND_LONG)) {
return;
}
2015-02-14 08:27:32 -04:00
// send command_long command containing a do_mount_control command
// Note: pitch and yaw are reversed
2015-02-14 08:27:32 -04:00
mavlink_msg_command_long_send(_chan,
_sysid,
_compid,
2015-02-14 08:27:32 -04:00
MAV_CMD_DO_MOUNT_CONTROL,
0, // confirmation of zero means this is the first time this message has been sent
-degrees(angle_target_rad.pitch),
degrees(angle_target_rad.roll),
-degrees(get_bf_yaw_angle(angle_target_rad)),
2015-02-14 08:27:32 -04:00
0, 0, 0, // param4 ~ param6 unused
MAV_MOUNT_MODE_MAVLINK_TARGETING);
2015-02-14 08:27:32 -04:00
// store time of send
_last_send = AP_HAL::millis();
2015-02-14 08:27:32 -04:00
}
#endif // HAL_MOUNT_STORM32MAVLINK_ENABLED