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Rover: integrate mount frontend-backend restructure 

rename mount.set_roi_cmd to set_roi_target
This commit is contained in:
Randy Mackay 2015-01-09 05:12:18 +09:00 committed by Andrew Tridgell
parent c51ba8cd03
commit 1ab405bf88
5 changed files with 8 additions and 21 deletions
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12
APMrover2/APMrover2.pde
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@ -286,7 +286,7 @@ static struct Location current_loc;
// -------------------------------------- // --------------------------------------
#if MOUNT == ENABLED #if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only. // current_loc uses the baro/gps soloution for altitude rather than gps only.
AP_Mount camera_mount(&current_loc, ahrs, 0); AP_Mount camera_mount(ahrs, current_loc);
#endif #endif
@ -616,7 +616,7 @@ static void ahrs_update()
static void mount_update(void) static void mount_update(void)
{ {
#if MOUNT == ENABLED #if MOUNT == ENABLED
camera_mount.update_mount_position(); camera_mount.update();
#endif #endif
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.trigger_pic_cleanup(); camera.trigger_pic_cleanup();
@ -705,10 +705,6 @@ static void update_logging2(void)
static void update_aux(void) static void update_aux(void)
{ {
RC_Channel_aux::enable_aux_servos(); RC_Channel_aux::enable_aux_servos();
#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
} }
/* /*
@ -729,10 +725,6 @@ static void one_second_loop(void)
// cope with changes to aux functions // cope with changes to aux functions
update_aux(); update_aux();
#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
// cope with changes to mavlink system ID // cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;

2
APMrover2/GCS_Mavlink.pde
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@ -830,7 +830,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} }
} else { } else {
// send the command to the camera mount // send the command to the camera mount
camera_mount.set_roi_cmd(&roi_loc); camera_mount.set_roi_target(roi_loc);
} }
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;

2
APMrover2/Parameters.h
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@ -162,7 +162,7 @@ public:
// //
k_param_camera, k_param_camera,
k_param_camera_mount, k_param_camera_mount,
k_param_camera_mount2, k_param_camera_mount2, // unused
// //
// 240: PID Controllers // 240: PID Controllers

10
APMrover2/commands_logic.pde
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@ -104,17 +104,9 @@ start_command(const AP_Mission::Mission_Command& cmd)
} }
} else { } else {
// send the command to the camera mount // send the command to the camera mount
camera_mount.set_roi_cmd(&cmd.content.location); camera_mount.set_roi_target(cmd.content.location);
} }
break; break;
case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
camera_mount.configure_cmd();
break;
case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
camera_mount.control_cmd();
break;
#endif #endif
default: default:

3
APMrover2/system.pde
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@ -196,6 +196,9 @@ static void init_ardupilot()
relay.init(); relay.init();
// initialise camera mount
camera_mount.init();
/* /*
setup the 'main loop is dead' check. Note that this relies on setup the 'main loop is dead' check. Note that this relies on
the RC library being initialised. the RC library being initialised.