mirror of https://github.com/ArduPilot/ardupilot
AP_Mount: add HAL_MOUNT_SERVO_ENABLED build option
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@ -443,8 +443,10 @@ void AP_Mount::init()
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// check for servo mounts
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if (mount_type == Mount_Type_Servo) {
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#if HAL_MOUNT_SERVO_ENABLED
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_backends[instance] = new AP_Mount_Servo(*this, state[instance], instance);
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_num_instances++;
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#endif
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#if HAL_SOLO_GIMBAL_ENABLED
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// check for MAVLink mounts
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@ -1,5 +1,5 @@
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#include "AP_Mount_Servo.h"
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#if HAL_MOUNT_ENABLED
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#if HAL_MOUNT_SERVO_ENABLED
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extern const AP_HAL::HAL& hal;
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@ -221,4 +221,4 @@ void AP_Mount_Servo::move_servo(uint8_t function_idx, int16_t angle, int16_t ang
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int16_t servo_out = closest_limit(angle, angle_min, angle_max);
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SRV_Channels::move_servo((SRV_Channel::Aux_servo_function_t)function_idx, servo_out, angle_min, angle_max);
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}
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#endif // HAL_MOUNT_ENABLED
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#endif // HAL_MOUNT_SERVO_ENABLED
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@ -3,13 +3,19 @@
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*/
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#pragma once
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#include "AP_Mount_Backend.h"
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#ifndef HAL_MOUNT_SERVO_ENABLED
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#define HAL_MOUNT_SERVO_ENABLED HAL_MOUNT_ENABLED
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#endif
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#if HAL_MOUNT_SERVO_ENABLED
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <SRV_Channel/SRV_Channel.h>
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#include "AP_Mount_Backend.h"
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#if HAL_MOUNT_ENABLED
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class AP_Mount_Servo : public AP_Mount_Backend
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{
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@ -71,4 +77,4 @@ private:
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uint32_t _last_check_servo_map_ms; // system time of latest call to check_servo_map function
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};
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#endif // HAL_MOUNT_ENABLED
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#endif // HAL_MOUNT_SERVO_ENABLED
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