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AP_Mount: validate modes before setting them

This commit is contained in:
Peter Barker 2023-11-15 10:02:53 +11:00 committed by Peter Barker
parent bd05fad850
commit 4f4e6d646c
2 changed files with 25 additions and 2 deletions
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20
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -46,6 +46,26 @@ bool AP_Mount_Backend::has_pitch_control() const
return (_params.pitch_angle_min < _params.pitch_angle_max);
}
bool AP_Mount_Backend::valid_mode(MAV_MOUNT_MODE mode) const
{
switch (mode) {
case MAV_MOUNT_MODE_RETRACT...MAV_MOUNT_MODE_HOME_LOCATION:
return true;
case MAV_MOUNT_MODE_ENUM_END:
return false;
}
return false;
}
bool AP_Mount_Backend::set_mode(MAV_MOUNT_MODE mode)
{
if (!valid_mode(mode)) {
return false;
}
_mode = mode;
return true;
}
// set angle target in degrees
// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
void AP_Mount_Backend::set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame)

5
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -70,11 +70,14 @@ public:
// get angular velocity of mount. Only available on some backends
virtual bool get_angular_velocity(Vector3f& rates) { return false; }
// returns true if mode is a valid mode, false otherwise:
bool valid_mode(MAV_MOUNT_MODE mode) const;
// get mount's mode
enum MAV_MOUNT_MODE get_mode() const { return _mode; }
// set mount's mode
void set_mode(enum MAV_MOUNT_MODE mode) { _mode = mode; }
bool set_mode(enum MAV_MOUNT_MODE mode);
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle