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AP_Mount_Alexmos: use struct for CMD_CONTROL command

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new struct created in header and used in control_axis function
This commit is contained in:
Matthias Badaire 2015-01-16 23:13:17 +01:00 committed by Andrew Tridgell
parent 81d60af4a8
commit 46e92f99fe
2 changed files with 22 additions and 19 deletions
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27
libraries/AP_Mount/AP_Mount_Alexmos.cpp
View File

@ -123,24 +123,15 @@ void AP_Mount_Alexmos::control_axis(const Vector3f& angle, bool target_in_degree
if (!target_in_degrees) {
target_deg *= RAD_TO_DEG;
}
uint8_t mode = AP_MOUNT_ALEXMOS_MODE_ANGLE;
int16_t speed_roll = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
int16_t angle_roll = DEGREE_TO_VALUE(target_deg.x);
int16_t speed_pitch = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
int16_t angle_pitch = DEGREE_TO_VALUE(target_deg.y);
int16_t speed_yaw = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
int16_t angle_yaw = DEGREE_TO_VALUE(target_deg.z);
uint8_t data[13] = {
(uint8_t)mode,
(uint8_t)speed_roll, (uint8_t)(speed_roll >> 8),
(uint8_t)angle_roll, (uint8_t)(angle_roll >> 8 ),
(uint8_t)speed_pitch, (uint8_t)(speed_pitch >> 8),
(uint8_t)angle_pitch, (uint8_t)(angle_pitch >> 8),
(uint8_t)speed_yaw, (uint8_t)(speed_yaw >> 8),
(uint8_t)angle_yaw, (uint8_t)(angle_yaw >> 8)
};
send_command (CMD_CONTROL, data , 13);
alexmos_parameters outgoing_buffer;
outgoing_buffer.angle_speed.mode = AP_MOUNT_ALEXMOS_MODE_ANGLE;
outgoing_buffer.angle_speed.speed_roll = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
outgoing_buffer.angle_speed.angle_roll = DEGREE_TO_VALUE(target_deg.x);
outgoing_buffer.angle_speed.speed_pitch = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
outgoing_buffer.angle_speed.angle_pitch = DEGREE_TO_VALUE(target_deg.y);
outgoing_buffer.angle_speed.speed_yaw = DEGREE_PER_SEC_TO_VALUE(AP_MOUNT_ALEXMOS_SPEED);
outgoing_buffer.angle_speed.angle_yaw = DEGREE_TO_VALUE(target_deg.z);
send_command (CMD_CONTROL, outgoing_buffer.bytes , sizeof (alexmos_angles_speed));
}
/*

14
libraries/AP_Mount/AP_Mount_Alexmos.h
View File

@ -157,6 +157,17 @@ private:
int16_t rc_speed_yaw;
};
// CMD_CONTROL
struct PACKED alexmos_angles_speed {
int8_t mode;
int16_t speed_roll;
int16_t angle_roll;
int16_t speed_pitch;
int16_t angle_pitch;
int16_t speed_yaw;
int16_t angle_yaw;
};
// CMD_READ_PARAMS
struct PACKED alexmos_params {
uint8_t profile_id;
@ -272,10 +283,11 @@ private:
uint8_t cur_profile_id;
};
union PACKED {
union PACKED alexmos_parameters {
alexmos_version version;
alexmos_angles angles;
alexmos_params params;
alexmos_angles_speed angle_speed;
uint8_t bytes[];
} _buffer,_current_parameters;