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AP Mount: add Tusuav backend

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yi 2024-10-28 17:36:30 +08:00 committed by sunyu
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libraries/AP_Mount/AP_Mount_Tusuav.cpp Normal file
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libraries/AP_Mount/AP_Mount_Tusuav.h Normal file
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/*
* @Author: Yu Sun,Yiyun Gong
* @Date: 2024-10
* @Description: Tusuav, Leading the way in drone innovation!
Tusuav gimbal driver using custom serial protocol
Packet format (courtesy of Tusuav's SDK document)
-------------------------------------------------------------------------------------------
Field Index Bytes Description
-------------------------------------------------------------------------------------------
Header 0 1 0x5A
Length 1 1 total length, n=all bytes from byte5 to checksum, min=6, max=128
Flag 2 1 bit0~2: board id of the gimbal 0=main controller 1=comm board 2~4=motor pitch/roll/yaw
bit3: 1= need reply 0 = no need
bit4: 1= is a reply message 0 = now a reply message
bit5: 1= is a reading message 0 = is a writing message
Cmd 3 1 see details at below
Sub Cmd 4 1 see details at below
Data 5~n+1 n data in little endian lowest byte first
Checksum n+2 1 calculate_crc from mavlink 2.0 of byte from 0 to n+1 (inclusive)
*/
#pragma once
#include "AP_Mount_Backend_Serial.h"
#if HAL_MOUNT_TUSUAV_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <AP_HAL/utility/sparse-endian.h>
#define AP_MOUNT_TUSUAV_PACKETLEN_MAX 255 // maximum number of bytes in a packet sent to or received from the gimbal
class AP_Mount_Tusuav : public AP_Mount_Backend_Serial
{
public:
// Constructor
using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
/* Do not allow copies */
CLASS_NO_COPY(AP_Mount_Tusuav);
// // init - performs any required initialisation for this instance
// void init() override;
// update mount position - should be called periodically
void update() override;
// return true if healthy
bool healthy() const override;
// return true if this mount accepts roll targets
bool has_roll_control() const override { return false; };
// has_pan_control - returns true if this mount can control its pan (required for multicopters)
bool has_pan_control() const override { return true; };
// take a picture. returns true on success
bool take_picture() override;
// start or stop video recording
// set start_recording = true to start record, false to stop recording
bool record_video(bool start_recording) override;
// set zoom specified as a rate or percentage
bool set_zoom(ZoomType zoom_type, float zoom_value) override;
// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
bool set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2) override;
// set camera lens as a value from 0 to 5
bool set_lens(uint8_t lens) override;
// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
// primary and secondary sources use the AP_Camera::CameraSource enum cast to uint8_t
bool set_camera_source(uint8_t primary_source, uint8_t secondary_source) override;
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan) const override;
// send camera settings message to GCS
void send_camera_settings(mavlink_channel_t chan) const override;
// get rangefinder distance. returns true on success
bool get_rangefinder_distance(float& distance_m) const override;
// enable/disable rangefinder. returns true on success
bool set_rangefinder_enable(bool enable) override;
protected:
// get attitude as a quaternion. returns true on success
bool get_attitude_quaternion(Quaternion& att_quat) override;
private:
// send text prefix string to reduce flash cost
static const char* send_text_prefix;
// gimbal main commands for controlling gimbal behavior
enum class GimbalCmd : uint8_t {
MasCmd_Load = 0xBC, // load settings or configurations
MasCmd_Gimbal = 0xBD, // gimbal operations
MasCmd_Device = 0x0B // device-specific operations
};
// gimbal sub-commands for controlling and retrieving gimbal status
enum class GimbalSubCmd : uint8_t {
GimbalSubCmd_GimbalAngle = 0x16, // retrieve gimbal angles
GimbalSubCmd_PlaneSensor_Attitude = 0x18, // send plane sensor & attitude to gimbal
GimbalSubCmd_PlaneControlPara = 0x19, // control parameters
GimbalSubCmd_TimeSynchronize = 0x20, // synchronize time with gimbal
GimbalSubCmd_LaserDistance = 0x21, // retrieve laser distance measurements
GimbalSubCmd_PodCtrlReg = 0x2B, // control settings for gimbal pod
GimbalSubCmd_GimbalSn = 0x34, // read gimbal serial number
GimbalSubcmd_LaserState = 0x59, // enable/disable laser rangefinder state
DebugSubCmd_InnerFramePIDPara = 0x60, // internal frame PID parameter debugging
gimbal_single_cmd_stick_control = 0xA0, // joystick control pitch&yaw
gimbal_single_cmd_track_switch = 0xA2, // track start and target select
gimbal_single_cmd_trackpos_set = 0xA3, // track target select
gimbal_single_cmd_record_switch = 0xA4, // record start and stop
gimbal_single_cmd_infrared_display = 0xA5, // infrared camera color mode
gimbal_single_cmd_zoomspeed_set = 0xA6, // zoom in speed mode
gimbal_single_cmd_zoomvalue_set = 0xA7, // zoom in position mode
gimbal_single_cmd_trackbox_set = 0xA8, // track box size setting
};
// device sub-command for retrieving firmware info
enum class DeviceSubCmd : uint8_t {
Firmware_Info = 0x03, // retrieve firmware version information
};
// rangefinder command
enum class LRFSettings : uint8_t {
RangeFinder_Off = 0x00, // turn off rangefinder
RangeFinder_Measure_Once = 0x02, // measure distance once
RangeFinder_Continuously_Measure = 0x03 // continuously measure distance
};
// recording status
enum class RecordingCmd : uint8_t {
No_Action = 0x00, // no recording action
Start = 0x01, // start recording
Stop = 0x02 // stop recording
};
// display output source
enum class CameraSource : uint8_t {
EO = 0x00, // electro-optical (RGB camera)
IR = 0x01, // infrared (thermal camera)
PIP_EO = 0x02, // Picture-in-Picture, EO as main and IR in a small window
PIP_IR = 0x03 // Picture-in-Picture, IR as main and EO in a small window
};
// infrared color modes for thermal imaging
enum class IRColor : uint8_t {
White = 0x00, // infrared, white hot
Black = 0x01, // infrared, black hot
};
// tracking status for gimbal
enum class TrackingStatus : uint8_t {
Stopped = 0x00, // not tracking
Searching = 0x01, // searching
Tracking = 0x02, // locked onto a target
Lost = 0x03, // lost target
};
// parsing states for handling incoming gimbal packets
enum class ParseState : uint8_t {
Waiting_For_Header, // waiting for the start of a packet
Waiting_For_Total_Length, // waiting for the total length of the packet
Waiting_For_Flag, // waiting for the flag byte
Waiting_For_Cmd, // waiting for the command byte
Waiting_For_Sub_Cmd, // waiting for the sub-command byte
Waiting_For_Data, // waiting for the packet's data bytes
Waiting_For_CRC // waiting for the CRC byte to validate the packet
};
struct FrameType {
union {
uint8_t all;
struct {
uint8_t no_define : 3; // reserved/undefined bits
uint8_t is_need_ack : 1; // if an acknowledgment is required
uint8_t is_ack_msg : 1; // if this message is an acknowledgment
uint8_t is_read_cmd : 1; // if this is a read command
uint8_t no_define2 : 2; // reserved/undefined bits
} bits;
} flag;
uint8_t total_len; // total length of the frame, including header and CRC
uint8_t data_len; // length of the data payload
uint8_t cmd; // command byte indicating the main command type
uint8_t sub_cmd; // sub-command byte indicating the specific action
uint8_t crc; // CRC byte for error checking
uint8_t* data; // pointer to the data payload
};
struct ParsedRxMsg {
struct FrameType msg; // the parsed message
ParseState state; // the current state of the message parser
}_parsed_msg;
union PodCtrlUnion {
struct PodCtrlBitField {
uint8_t torque_on : 1; // always 0xB1
uint8_t display_mode : 2; // 0 = EO camera, 1 = IR camera, 2 = EO-PIP, 3 = IR-PIP
uint8_t fpv : 1; // 1 if the direction of the vel(x,y)
uint8_t lock_ef : 1; // 1 if gimbal is locked in earth frame mode
uint8_t in_tracking : 1; // 1 if gimbal is in tracking mode
uint8_t osd_off : 1; // 1 if on-screen display (OSD) is off
} bits;
uint8_t all;
};
union RecordPhotoSettings {
struct RecordBitField {
uint8_t trigger_capture : 1; // photo once if this bit turns to 1
RecordingCmd record : 2; // recording command: start, stop, or no action
uint8_t no_defined : 5; // reserved/undefined bits
} bits;
uint8_t all;
};
struct PACKED MessageCameraSource {
IRColor color; // infrared color mode
CameraSource source; // camera source
};
struct PACKED MessageGimbalAngle {
float gimbal_angle[3]; // gimbal euler angle: pitch, roll, yaw in degrees
float gimbal_frame_angle[3]; // gimbal frame angle: pitch, roll, yaw in degrees
// union for tracking status and other gimbal settings
union TrackingStatusUnion {
struct StatusBitField {
uint8_t is_tracking : 1; // 1 if gimbal is actively tracking
uint8_t osd_off : 1; // 1 if OSD (on-screen display) is off
uint8_t recording : 1; // 1 if video recording is active
uint8_t photo_on : 1; // 1 if a photo is being captured
uint8_t display_mode : 2; // display mode (0: EO, 1: IR, 2: EO-PIP, 3: IR-PIP)
uint8_t retracking : 1; // 1 if gimbal is retracking a target
uint8_t no_define1 : 1; // reserved/undefined bit
uint8_t ai_detect : 1; // 1 if AI object detection is active
uint8_t eis_on : 1; // 1 if electronic image stabilization is on
uint8_t human_detect : 1; // 1 if human detection is enabled
uint8_t inf_white : 1; // 1 if infrared white-hot mode is active
uint8_t no_define2 : 1; // reserved/undefined bit
uint8_t ai_density : 1; // 1 if AI density detection is enabled
uint8_t ai_vehicle : 1; // 1 if AI vehicle detection is enabled
} bits;
uint16_t all;
} status;
enum QualityEnum : uint8_t {
Track_Quality_None = 0, // no tracking quality
Track_Quality_Weak = 128, // weak tracking quality
Track_Quality_Normal = 255 // normal tracking quality
} quality;
uint8_t zoom;
};
// GimbalSubCmd_GimbalSensor
struct PACKED MessageGimbalSensor{
int16_t imu_temperature;
float gimbal_acc[3]; //gimbal body frame NED accelerated in G(9.8m/s^2)
float gimbal_gyro[3]; //gimbal body frame NED angular speed in degree/sec
};
// M_AHRS used to send vehicle attitude and position to gimbal
enum class AircraftType : uint8_t {
Aircraft_Vtol, // Vertical Take-Off and Landing (VTOL) aircraft
Aircraft_Copter, // Multi-rotor copter aircraft
};
// GimbalSubCmd_PlaneSensor_Attitude data frame
struct PACKED MessageAhrs{
uint8_t gps_update_flag;
union FcStatus {
struct {
uint8_t aircraft_type:3;
uint8_t is_slant_fly:1;
uint8_t no_define:1;
uint8_t have_taken_off:1;
uint8_t disable_control_pod:1;
uint8_t no_define1:1;
} bits;
uint8_t all;
}fc_status;
float fc_gyro[3]; // fc body frame NED angular speed in degrees/sec
float fc_acc[3]; // fc body frame NED acceleration in G (9.8m/s^2)
float vel[3]; // fc earth coordinate NED velocity in m/s
float euler[3]; // c euler angle PRY in deree
float relative_height;
float altitude;
float longitude;
float latitude;
};
//GimbalSubCmd_PlaneSensor_Attitude data frame
struct PACKED MessageTimeSync{
struct PACKED DateType{
uint8_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t min;
uint8_t sec;
}time;
struct PACKED LocType {
int32_t lat; // latitude
int32_t lng; // longitude
int32_t altitude_cm; // altitude
uint32_t time_of_week_ms; // GPS time of the week
} loc;
};
// M_AHRS used to send vehicle attitude and position to gimbal
enum class GimbalAngleMode : uint8_t {
Stabilize,
Earth_Frame_Angle,
Earth_Frame_Rates,
Body_Frame_Angle,
};
// GimbalSubCmd_PlaneControlPara
struct PACKED MessageGimbalAngleRates{
float ef_angle[3]; // gimbal earth frame angle in degree
float rates[3]; // gimbal earth frame rates in degree/sec
float bf_angle[3]; // gimbal body frame angle in degree
union{
struct PACKED{
uint8_t pitch:2;
uint8_t roll:2;
uint8_t yaw:2;
uint8_t special:2;
}bits;
uint8_t all;
}mode;
};
// reading incoming packets from gimbal and confirm they are of the correct format
// results are held in the _parsed_msg structure
void read_incoming_packets();
// process successfully decoded packets held in the _parsed_msg structure
void process_packet();
// send packet to gimbal
// returns true on success, false if outgoing serial buffer is full
bool send_packet(struct FrameType frame);
// send handshake, gimbal will respond with T1_F1_B1_D1 packet that includes current angles
void send_time_sync();
// request the current tracking status from the gimbal
bool request_tracking_status();
// request the gimbal's firmware version
bool request_versions();
// request the gimbal's model name or serial number
bool request_models();
// set gimbal's lock vs follow mode
// lock should be true if gimbal should maintain an earth-frame target
// lock is false to follow / maintain a body-frame target
bool set_lock(bool lock);
// send target pitch and yaw angles to gimbal
// yaw_is_ef should be true if yaw_rad target is an earth frame angle, false if body_frame
bool send_target_angles_rates(MessageGimbalAngleRates mode);
// send joystick inputs for controlling the gimbal's pitch and yaw axes
bool send_stick_pitch_yaw(int16_t pitch,int16_t yaw);
// send vehicle attitude and position to gimbal
bool send_m_ahrs();
// internal variables
uint8_t _msg_buff[AP_MOUNT_TUSUAV_PACKETLEN_MAX]; // buffer holding latest bytes from gimbal
uint8_t _msg_buff_len; // number of bytes held in msg buff
// variables for sending packets to gimbal
uint8_t _gps_update_count; // counter for GPS updates sent to the gimbal
uint32_t _gps_last_update_ms; // timestamp of the last GPS update
uint32_t _last_time_sync_ms_send; // timestamp of the last time synchronization packet sent to the gimbal
uint32_t _last_update_ms_send; // system time (in milliseconds) that angle or rate targets were last sent
uint32_t _last_update_ms_parse; // system time (in milliseconds) that incoming data was last parsed
Vector3f _current_angle_rad; // current angles in radians received from gimbal (x=roll, y=pitch, z=yaw)
uint32_t _last_current_angle_rad_ms; // system time _current_angle_rad was updated (used for health reporting)
uint32_t _last_tracking_ms; // timestamp of the last tracking status update from the gimbal
bool _recording; // recording status received from gimbal
bool _last_lock; // last lock mode sent to gimbal
TrackingStatus _last_tracking_status; // last tracking status received from gimbal (used to notify users)
float _zoom_times; // zoom times received from gimbal
uint32_t _firmware_version; // firmware version from gimbal
bool _got_firmware_version; // true once we have received the firmware version
uint8_t _model_sn[21] {}; // model sn received from gimbal
bool _got_model_name; // true once we have received model name
float _rangefinder_dist_m; // latest rangefinder distance (in meters)
PodCtrlUnion _gimbal_ctrl_settings = {.all = 0x01}; // control settings for the gimbal
IRColor _IR_color = IRColor::White; // current infrared color mode
TrackingType _tracking_type = TrackingType::TRK_NONE; // current tracking type
};
#endif // HAL_MOUNT_TUSUAV_ENABLED