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AP_Mount: Create new copter parameters to hold gimbal settings

This commit is contained in:
Arthur Benemann 2015-03-30 15:48:13 -07:00 committed by Randy Mackay
parent cf2377d113
commit 4bdf909bbf
3 changed files with 16 additions and 1 deletions
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5
libraries/AP_Mount/AP_Mount.cpp
View File

@ -199,6 +199,11 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @User: Standard
AP_GROUPINFO("_TYPE", 19, AP_Mount, state[0]._type, 0),
AP_GROUPINFO("_OFF_JNT", 20, AP_Mount, state[0]._gimbalParams.joint_angles_offsets, 0),
AP_GROUPINFO("_OFF_ACC", 21, AP_Mount, state[0]._gimbalParams.delta_velocity_offsets, 0),
AP_GROUPINFO("_OFF_GYRO", 22, AP_Mount, state[0]._gimbalParams.delta_angles_offsets, 0),
AP_GROUPINFO("_K_RATE", 23, AP_Mount, state[0]._gimbalParams.K_gimbalRate, 5.0f),
// 20 ~ 24 reserved for future parameters
#if AP_MOUNT_MAX_INSTANCES > 1

10
libraries/AP_Mount/AP_Mount.h
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@ -65,6 +65,13 @@ public:
Mount_Type_SToRM32 = 4 /// SToRM32 mount
};
struct gimbal_params {
AP_Vector3f delta_angles_offsets;
AP_Vector3f delta_velocity_offsets;
AP_Vector3f joint_angles_offsets;
AP_Float K_gimbalRate;
};
// Constructor
AP_Mount(const AP_AHRS_TYPE &ahrs, const struct Location &current_loc);
@ -168,6 +175,9 @@ protected:
MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
struct Location _roi_target; // roi target location
struct gimbal_params _gimbalParams;
} state[AP_MOUNT_MAX_INSTANCES];
};

2
libraries/AP_Mount/AP_Mount_MAVLink.cpp
View File

@ -13,7 +13,7 @@
AP_Mount_MAVLink::AP_Mount_MAVLink(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
AP_Mount_Backend(frontend, state, instance),
_initialised(false),
_gimbal(frontend._ahrs, 1, MAV_COMP_ID_GIMBAL)
_gimbal(frontend._ahrs, 1, MAV_COMP_ID_GIMBAL, _state._gimbalParams)
{}
// init - performs any required initialisation for this instance