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uncrustify libraries/AP_Mount/AP_Mount.h

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uncrustify 2012-08-16 23:20:30 -07:00 committed by Pat Hickey
parent dd167c5d6f
commit 432e293076
1 changed files with 76 additions and 74 deletions
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150
libraries/AP_Mount/AP_Mount.h
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@ -15,9 +15,9 @@
* Usage: Use in main code to control mounts attached to *
* vehicle. *
* *
*Comments: All angles in degrees * 100, distances in meters*
**Comments: All angles in degrees * 100, distances in meters*
* unless otherwise stated. *
************************************************************/
************************************************************/
#ifndef AP_Mount_H
#define AP_Mount_H
@ -32,94 +32,96 @@
class AP_Mount
{
public:
//Constructor
AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id);
//Constructor
AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs, uint8_t id);
//enums
enum MountType{
k_unknown = 0, ///< unknown type
k_pan_tilt = 1, ///< yaw-pitch
k_tilt_roll = 2, ///< pitch-roll
k_pan_tilt_roll = 3, ///< yaw-pitch-roll
};
//enums
enum MountType {
k_unknown = 0, ///< unknown type
k_pan_tilt = 1, ///< yaw-pitch
k_tilt_roll = 2, ///< pitch-roll
k_pan_tilt_roll = 3, ///< yaw-pitch-roll
};
// MAVLink methods
void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg);
void status_msg(mavlink_message_t* msg);
void set_roi_cmd(struct Location *target_loc);
void configure_cmd();
void control_cmd();
// MAVLink methods
void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg);
void status_msg(mavlink_message_t* msg);
void set_roi_cmd(struct Location *target_loc);
void configure_cmd();
void control_cmd();
// should be called periodically
void update_mount_position();
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
void debug_output(); ///< For testing and development. Called in the medium loop.
// Accessors
enum MountType get_mount_type() { return _mount_type; }
// hook for eeprom variables
static const struct AP_Param::GroupInfo var_info[];
// should be called periodically
void update_mount_position();
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
void debug_output(); ///< For testing and development. Called in the medium loop.
// Accessors
enum MountType get_mount_type() {
return _mount_type;
}
// hook for eeprom variables
static const struct AP_Param::GroupInfo var_info[];
private:
//methods
void set_mode(enum MAV_MOUNT_MODE mode);
//methods
void set_mode(enum MAV_MOUNT_MODE mode);
void set_retract_angles(float roll, float tilt, float pan); ///< set mount retracted position
void set_neutral_angles(float roll, float tilt, float pan);
void set_control_angles(float roll, float tilt, float pan);
void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
void set_retract_angles(float roll, float tilt, float pan); ///< set mount retracted position
void set_neutral_angles(float roll, float tilt, float pan);
void set_control_angles(float roll, float tilt, float pan);
void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
// internal methods
void calc_GPS_target_angle(struct Location *target);
void stabilize();
int16_t closest_limit(int16_t angle, int16_t* angle_min, int16_t* angle_max);
void move_servo(RC_Channel* rc, int16_t angle, int16_t angle_min, int16_t angle_max);
int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
// internal methods
void calc_GPS_target_angle(struct Location *target);
void stabilize();
int16_t closest_limit(int16_t angle, int16_t* angle_min, int16_t* angle_max);
void move_servo(RC_Channel* rc, int16_t angle, int16_t angle_min, int16_t angle_max);
int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
//members
AP_AHRS *_ahrs; ///< Rotation matrix from earth to plane.
GPS *&_gps;
const struct Location *_current_loc;
struct Location _target_GPS_location;
MountType _mount_type;
//members
AP_AHRS * _ahrs; ///< Rotation matrix from earth to plane.
GPS *& _gps;
const struct Location * _current_loc;
struct Location _target_GPS_location;
MountType _mount_type;
uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index
uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index
uint8_t _pan_idx ; ///< RC_Channel_aux mount pan function index
uint8_t _open_idx; ///< RC_Channel_aux mount open function index
uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index
uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index
uint8_t _pan_idx; ///< RC_Channel_aux mount pan function index
uint8_t _open_idx; ///< RC_Channel_aux mount open function index
float _roll_control_angle; ///< radians
float _tilt_control_angle; ///< radians
float _pan_control_angle; ///< radians
float _roll_control_angle; ///< radians
float _tilt_control_angle; ///< radians
float _pan_control_angle; ///< radians
float _roll_angle; ///< degrees
float _tilt_angle; ///< degrees
float _pan_angle; ///< degrees
float _roll_angle; ///< degrees
float _tilt_angle; ///< degrees
float _pan_angle; ///< degrees
// EEPROM parameters
AP_Int8 _stab_roll; ///< (1 = yes, 0 = no)
AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no)
AP_Int8 _stab_pan; ///< (1 = yes, 0 = no)
// EEPROM parameters
AP_Int8 _stab_roll; ///< (1 = yes, 0 = no)
AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no)
AP_Int8 _stab_pan; ///< (1 = yes, 0 = no)
AP_Int8 _mount_mode;
// RC_Channel for providing direct angular input from pilot
AP_Int8 _roll_rc_in;
AP_Int8 _tilt_rc_in;
AP_Int8 _pan_rc_in;
AP_Int8 _mount_mode;
// RC_Channel for providing direct angular input from pilot
AP_Int8 _roll_rc_in;
AP_Int8 _tilt_rc_in;
AP_Int8 _pan_rc_in;
AP_Int16 _roll_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _roll_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int8 _joystick_speed;
AP_Int8 _joystick_speed;
AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan
AP_Vector3f _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = tilt, vector.z=pan
};
#endif