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AP_Mount: privatise various fields and methods 

We are hoping to pull more target calculations into the frontend.

Having these non-private threatens for calculations to move into the separate backends instead, so privatise them
This commit is contained in:
Peter Barker 2024-11-27 14:22:59 +11:00 committed by Randy Mackay
parent 4bc6115f1a
commit 0b8ad6f1d9
1 changed files with 17 additions and 17 deletions
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34
libraries/AP_Mount/AP_Mount_Backend.h
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@ -271,26 +271,10 @@ protected:
// returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal) // returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal)
virtual bool suppress_heartbeat() const { return false; } 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 // change to RC_TARGETTING mode if rc inputs have changed by more than the dead zone
// should be called on every update // should be called on every update
void set_rctargeting_on_rcinput_change(); 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 // get angle targets (in radians) to ROI location
// returns true on success, false on failure // returns true on success, false on failure
bool get_angle_target_to_roi(MountTarget& angle_rad) const WARN_IF_UNUSED; bool get_angle_target_to_roi(MountTarget& angle_rad) const WARN_IF_UNUSED;
@ -319,7 +303,6 @@ protected:
uint8_t _instance; // this instance's number uint8_t _instance; // this instance's number
MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum) MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
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 // structure for MAVLink Targeting angle and rate targets
struct { struct {
@ -328,6 +311,21 @@ protected:
MountTarget rate_rads; // rate target in rad/s MountTarget rate_rads; // rate target in rad/s
} mnt_target; } mnt_target;
private:
// 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;
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
// 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;
#if AP_MOUNT_POI_TO_LATLONALT_ENABLED #if AP_MOUNT_POI_TO_LATLONALT_ENABLED
struct { struct {
HAL_Semaphore sem; // semaphore protecting this structure HAL_Semaphore sem; // semaphore protecting this structure
@ -337,6 +335,8 @@ protected:
Location poi_loc; // location of the POI Location poi_loc; // location of the POI
Quaternion att_quat; // attitude quaternion of the gimbal Quaternion att_quat; // attitude quaternion of the gimbal
} poi_calculation; } poi_calculation;
// calculate the Location that the gimbal is pointing at
void calculate_poi();
#endif #endif
Location _roi_target; // roi target location Location _roi_target; // roi target location