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AP_Mount: add devid parameter and setter

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This commit is contained in:
Randy Mackay 2023-06-21 16:24:06 +09:00
parent b0de3b57bf
commit 2a30bc7ce1
4 changed files with 18 additions and 0 deletions
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6
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -14,6 +14,12 @@ void AP_Mount_Backend::init()
_target_sysid = _params.sysid_default.get(); _target_sysid = _params.sysid_default.get();
} }
// set device id of this instance, for MNTx_DEVID parameter
void AP_Mount_Backend::set_dev_id(uint32_t id)
{
_params.dev_id.set_and_save(int32_t(id));
}
// return true if this mount accepts roll targets // return true if this mount accepts roll targets
bool AP_Mount_Backend::has_roll_control() const bool AP_Mount_Backend::has_roll_control() const
{ {

3
libraries/AP_Mount/AP_Mount_Backend.h
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@ -43,6 +43,9 @@ public:
// init - performs any required initialisation for this instance // init - performs any required initialisation for this instance
virtual void init(); virtual void init();
// set device id of this instance, for MNTx_DEVID parameter
void set_dev_id(uint32_t id);
// update mount position - should be called periodically // update mount position - should be called periodically
virtual void update() = 0; virtual void update() = 0;

8
libraries/AP_Mount/AP_Mount_Params.cpp
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@ -158,6 +158,14 @@ const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
// @RebootRequired: True // @RebootRequired: True
// @User: Standard // @User: Standard
AP_GROUPINFO("_SYSID_DFLT", 14, AP_Mount_Params, sysid_default, 0), AP_GROUPINFO("_SYSID_DFLT", 14, AP_Mount_Params, sysid_default, 0),
// @Param: _DEVID
// @DisplayName: Mount Device ID
// @Description: Mount device ID, taking into account its type, bus and instance
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO_FLAGS("_DEVID", 15, AP_Mount_Params, dev_id, 0, AP_PARAM_FLAG_INTERNAL_USE_ONLY),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/AP_Mount/AP_Mount_Params.h
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@ -30,4 +30,5 @@ public:
AP_Float roll_stb_lead; // roll lead control gain (only used by servo backend) AP_Float roll_stb_lead; // roll lead control gain (only used by servo backend)
AP_Float pitch_stb_lead; // pitch lead control gain (only used by servo backend) AP_Float pitch_stb_lead; // pitch lead control gain (only used by servo backend)
AP_Int8 sysid_default; // target sysid for mount to follow AP_Int8 sysid_default; // target sysid for mount to follow
AP_Int32 dev_id; // Device id taking into account bus
}; };