Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: Set relative pan to true for servo mounts

Browse Source
This commit is contained in:
Hugo Trippaers 2021-01-27 12:28:14 +01:00 committed by Andrew Tridgell
parent 44902ef535
commit 0dbe2e072c
3 changed files with 4 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_Mount/AP_Mount.cpp
View File

@ -213,13 +213,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// 23 formerly _K_RATE // 23 formerly _K_RATE
// @Param: _OPTIONS // 24 is AVAILABLE
// @DisplayName: Options field
// @Description: User configurable options; 0 = Enable Relative Pan on Servo Mounts
// @Values: 0:RelativePan
// @Bitmask: 0:RelativePan
// @User: Standard
AP_GROUPINFO("_OPTIONS", 24, AP_Mount, state[0]._options, 0),
#if AP_MOUNT_MAX_INSTANCES > 1 #if AP_MOUNT_MAX_INSTANCES > 1
// @Param: 2_DEFLT_MODE // @Param: 2_DEFLT_MODE
@ -401,14 +395,6 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial // @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial
// @User: Standard // @User: Standard
AP_GROUPINFO("2_TYPE", 42, AP_Mount, state[1]._type, 0), AP_GROUPINFO("2_TYPE", 42, AP_Mount, state[1]._type, 0),
// @Param: 2_OPTIONS
// @DisplayName: Options field for Mount 2
// @Description: User configurable options; 0 = Enable Relative Pan on Servo Mounts
// @Values: 0:RelativePan
// @Bitmask: 0:RelativePan
// @User: Standard
AP_GROUPINFO("2_OPTIONS", 43, AP_Mount, state[1]._options, 0),
#endif // AP_MOUNT_MAX_INSTANCES > 1 #endif // AP_MOUNT_MAX_INSTANCES > 1
AP_GROUPEND AP_GROUPEND

5
libraries/AP_Mount/AP_Mount.h
View File

@ -40,9 +40,6 @@
// maximum number of mounts // maximum number of mounts
#define AP_MOUNT_MAX_INSTANCES 1 #define AP_MOUNT_MAX_INSTANCES 1
// options (see _OPTIONS parameter)
#define AP_MOUNT_OPTION_RELATIVE_PAN (1<<0)
// declare backend classes // declare backend classes
class AP_Mount_Backend; class AP_Mount_Backend;
class AP_Mount_Servo; class AP_Mount_Servo;
@ -193,8 +190,6 @@ protected:
Location _target_sysid_location; // sysid target location Location _target_sysid_location; // sysid target location
bool _target_sysid_location_set; bool _target_sysid_location_set;
AP_Int8 _options; // Options field, bit 0 = use relative pan
} state[AP_MOUNT_MAX_INSTANCES]; } state[AP_MOUNT_MAX_INSTANCES];
private: private:

8
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -35,8 +35,6 @@ void AP_Mount_Servo::update()
_last_check_servo_map_ms = now; _last_check_servo_map_ms = now;
} }
uint8_t relative_pan = _state._options & AP_MOUNT_OPTION_RELATIVE_PAN;
switch(get_mode()) { switch(get_mode()) {
// move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage // move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
case MAV_MOUNT_MODE_RETRACT: case MAV_MOUNT_MODE_RETRACT:
@ -72,7 +70,7 @@ void AP_Mount_Servo::update()
// point mount to a GPS point given by the mission planner // point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT: case MAV_MOUNT_MODE_GPS_POINT:
{ {
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, relative_pan)) { if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, true)) {
stabilize(); stabilize();
} }
break; break;
@ -85,7 +83,7 @@ void AP_Mount_Servo::update()
} }
_state._roi_target = AP::ahrs().get_home(); _state._roi_target = AP::ahrs().get_home();
_state._roi_target_set = true; _state._roi_target_set = true;
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, relative_pan)) { if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, true)) {
stabilize(); stabilize();
} }
break; break;
@ -94,7 +92,7 @@ void AP_Mount_Servo::update()
if (calc_angle_to_sysid_target(_angle_ef_target_rad, if (calc_angle_to_sysid_target(_angle_ef_target_rad,
_flags.tilt_control, _flags.tilt_control,
_flags.pan_control, _flags.pan_control,
relative_pan)) { true)) {
stabilize(); stabilize();
} }
break; break;