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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
View File

@ -286,7 +286,7 @@ static struct Location current_loc;
// --------------------------------------
#if MOUNT == ENABLED
// 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
@ -616,7 +616,7 @@ static void ahrs_update()
static void mount_update(void)
{
#if MOUNT == ENABLED
camera_mount.update_mount_position();
camera_mount.update();
#endif
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
@ -705,10 +705,6 @@ static void update_logging2(void)
static void update_aux(void)
{
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
update_aux();
#if MOUNT == ENABLED
camera_mount.update_mount_type();
#endif
// cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav;

2
APMrover2/GCS_Mavlink.pde
View File

@ -830,7 +830,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
} else {
// 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;
break;

2
APMrover2/Parameters.h
View File

@ -162,7 +162,7 @@ public:
//
k_param_camera,
k_param_camera_mount,
k_param_camera_mount2,
k_param_camera_mount2, // unused
//
// 240: PID Controllers

10
APMrover2/commands_logic.pde
View File

@ -104,17 +104,9 @@ start_command(const AP_Mission::Mission_Command& cmd)
}
} else {
// send the command to the camera mount
camera_mount.set_roi_cmd(&cmd.content.location);
camera_mount.set_roi_target(cmd.content.location);
}
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
default:

3
APMrover2/system.pde
View File

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