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AP_Mount: Update Tusuav backend 11.15

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All reviews have been addressed. 11.15
This commit is contained in:
yi 2024-11-15 16:00:26 +08:00 committed by sunyu
parent 4c52c25fc2
commit 1176164cf6
1 changed files with 8 additions and 11 deletions
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19
libraries/AP_Mount/AP_Mount_Tusuav.h
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@ -24,9 +24,9 @@
#pragma once
#include "AP_Mount_Backend_Serial.h"
#include "AP_Mount_config.h"
#if HAL_MOUNT_TUSUAV_ENABLED
#include "AP_Mount_Backend_Serial.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
@ -45,9 +45,6 @@ public:
/* 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;
@ -98,6 +95,7 @@ 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
@ -205,7 +203,7 @@ private:
struct ParsedRxMsg {
struct FrameType msg; // the parsed message
ParseState state; // the current state of the message parser
}_parsed_msg;
} _parsed_msg;
union PodCtrlUnion {
struct PodCtrlBitField {
@ -292,7 +290,7 @@ private:
uint8_t no_define1:1;
} bits;
uint8_t all;
}fc_status;
} 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
@ -301,7 +299,6 @@ private:
float altitude;
float longitude;
float latitude;
};
//GimbalSubCmd_PlaneSensor_Attitude data frame
@ -316,9 +313,9 @@ private:
}time;
struct PACKED LocType {
int32_t lat; // latitude
int32_t lat; // latitude *1e7
int32_t lng; // longitude
int32_t altitude_cm; // altitude
int32_t altitude_cm; // altitude (cm)
uint32_t time_of_week_ms; // GPS time of the week
} loc;
@ -355,7 +352,7 @@ private:
// send packet to gimbal
// returns true on success, false if outgoing serial buffer is full
bool send_packet(struct FrameType frame);
bool send_packet(const FrameType& frame);
// send handshake, gimbal will respond with T1_F1_B1_D1 packet that includes current angles
void send_time_sync();