mirror of https://github.com/ArduPilot/ardupilot
Added support for routing any function to any of the aux. servos.
This is a manual merge from the APM_Camera branch. It reverts the stuff that Oliver did not menat to do with his commit 6dcbc7f44bc0
This commit is contained in:
Amilcar Lucas
parent
fdc56c9ad5
commit
5406991831
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@ -1,4 +1,5 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// This file is just a placeholder for your configuration file. If you wish to change any of the setup parameters from
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// their default values, place the appropriate #define statements here.
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@ -21,15 +22,4 @@
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#define HIL_PORT 0
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#define GCS_PROTOCOL GCS_PROTOCOL_MAVLINK
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#define GCS_PORT 3
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*/
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// ----- Camera definitions ------
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// ------------------------------
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#define CAMERA ENABLED
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#define CAM_DEBUG DISABLED
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// - Options to reduce code size -
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// -------------------------------
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// Disable text based terminal configuration
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#define CLI_ENABLED DISABLED
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*/
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@ -304,6 +304,19 @@
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//#define FLIGHT_MODE_6 MANUAL
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//
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//////////////////////////////////////////////////////////////////////////////
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// RC_5_FUNCT OPTIONAL
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// RC_6_FUNCT OPTIONAL
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// RC_7_FUNCT OPTIONAL
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// RC_8_FUNCT OPTIONAL
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//
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// The channel 5 through 8 function assignments allow configuration of those
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// channels for use with differential ailerons, flaps, flaperons, or camera
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// or intrument mounts
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//
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//#define RC_5_FUNCT RC_5_FUNCT_NONE
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//etc.
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//////////////////////////////////////////////////////////////////////////////
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// For automatic flap operation based on speed setpoint. If the speed setpoint is above flap_1_speed
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// then the flap position shall be 0%. If the speed setpoint is between flap_1_speed and flap_2_speed
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@ -1,6 +1,6 @@
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#define THISFIRMWARE "ArduPilotMega V2.24"
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#define THISFIRMWARE "ArduPlane V2.24"
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/*
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Authors: Doug Weibel, Jose Julio, Jordi Munoz, Jason Short
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Thanks to: Chris Anderson, HappyKillMore, Bill Premerlani, James Cohen, JB from rotorFX, Automatik, Fefenin, Peter Meister, Remzibi
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@ -41,9 +41,6 @@ version 2.1 of the License, or (at your option) any later version.
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#include <RC_Channel.h> // RC Channel Library
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#include <AP_RangeFinder.h> // Range finder library
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#include <ModeFilter.h>
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#include <AP_Camera.h> // Photo or video camera
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#include <AP_Mount.h> // Camera mount
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#include <GCS_MAVLink.h> // MAVLink GCS definitions
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#include <memcheck.h>
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@ -418,15 +415,6 @@ static unsigned long nav_loopTimer; // used to track the elapsed time for GP
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static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
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static float load; // % MCU cycles used
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RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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//Camera tracking and stabilisation stuff
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// --------------------------------------
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#if CAMERA == ENABLED
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AP_Mount camera_mount(g_gps, &dcm);
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//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
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#endif
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////////////////////////////////////////////////////////////////////////////////
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// Top-level logic
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@ -575,18 +563,6 @@ static void fast_loop()
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static void medium_loop()
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{
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#if CAMERA == ENABLED
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// TODO replace home with a POI coming from a MavLink message or command
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//camera_mount.set_GPS_target(home);
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// For now point the camera manually via the RC inputs (later remove these two lines)
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// for simple dcm tests, replace k_manual with k_stabilise
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camera_mount.set_mode(AP_Mount::k_stabilise);
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camera_mount.update_mount();
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g.camera.trigger_pic_cleanup();
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#endif
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// This is the start of the medium (10 Hz) loop pieces
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// -----------------------------------------
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switch(medium_loopCounter) {
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@ -734,11 +710,6 @@ static void slow_loop()
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// ----------------------------------
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update_servo_switches();
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update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
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#if CAMERA == ENABLED
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camera_mount.update_mount_type();
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#endif
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break;
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case 2:
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@ -17,7 +17,7 @@ public:
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// The increment will prevent old parameters from being used incorrectly
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// by newer code.
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//
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static const uint16_t k_format_version = 12;
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static const uint16_t k_format_version = 11;
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// The parameter software_type is set up solely for ground station use
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// and identifies the software type (eg ArduPilotMega versus ArduCopterMega)
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@ -112,13 +112,6 @@ public:
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k_param_RTL_altitude,
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k_param_inverted_flight_ch,
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//
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// Camera parameters
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//
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#if CAMERA == ENABLED
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k_param_camera,
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#endif
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//
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// 170: Radio settings
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//
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@ -141,6 +134,11 @@ public:
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k_param_long_fs_action,
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k_param_gcs_heartbeat_fs_enabled,
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k_param_throttle_slewrate,
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k_param_rc_5_funct,
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k_param_rc_6_funct,
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k_param_rc_7_funct,
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k_param_rc_8_funct,
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//
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// 200: Feed-forward gains
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@ -324,20 +322,19 @@ public:
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AP_Int8 flap_2_percent;
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AP_Int8 flap_2_speed;
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// Camera
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#if CAMERA == ENABLED
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AP_Camera camera;
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#endif
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// RC channels
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RC_Channel channel_roll;
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RC_Channel channel_pitch;
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RC_Channel channel_throttle;
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RC_Channel channel_rudder;
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RC_Channel_aux rc_5;
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RC_Channel_aux rc_6;
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RC_Channel_aux rc_7;
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RC_Channel_aux rc_8;
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RC_Channel rc_5;
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RC_Channel rc_6;
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RC_Channel rc_7;
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RC_Channel rc_8;
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AP_Int8 rc_5_funct;
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AP_Int8 rc_6_funct;
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AP_Int8 rc_7_funct;
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AP_Int8 rc_8_funct;
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// PID controllers
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//
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inverted_flight_ch (0, k_param_inverted_flight_ch, PSTR("INVERTEDFLT_CH")),
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sonar_enabled (SONAR_ENABLED, k_param_sonar_enabled, PSTR("SONAR_ENABLE")),
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airspeed_enabled (AIRSPEED_SENSOR, k_param_airspeed_enabled, PSTR("ARSPD_ENABLE")),
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rc_5_funct (RC_5_FUNCT, k_param_rc_5_funct, PSTR("RC5_FUNCT")),
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rc_6_funct (RC_6_FUNCT, k_param_rc_6_funct, PSTR("RC6_FUNCT")),
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rc_7_funct (RC_7_FUNCT, k_param_rc_7_funct, PSTR("RC7_FUNCT")),
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rc_8_funct (RC_8_FUNCT, k_param_rc_8_funct, PSTR("RC8_FUNCT")),
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// Note - total parameter name length must be less than 14 characters for MAVLink compatibility!
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#if CAMERA == ENABLED
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camera (k_param_camera, PSTR("CAM_")),
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#endif
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// RC channel group key name
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//----------------------------------------------------------------------
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channel_roll (k_param_channel_roll, PSTR("RC1_")),
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@ -1,56 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#if CAMERA == ENABLED
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void waypoint_check()
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{
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if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
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if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
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g.camera.trigger_pic();
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} // DO SOMETHIMNG
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}
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if(g.waypoint_index == 20){ // When here do whats underneath
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g.camera.trigger_pic();
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}
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}
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void picture_time_check()
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{
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if (g.camera.picture_time == 1){
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if (wp_distance < g.camera.wp_distance_min){
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g.camera.trigger_pic(); // or any camera activation command
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}
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}
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}
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#endif
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void egg_waypoint()
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{
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if (g_rc_function[RC_Channel_aux::k_egg_drop])
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{
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float temp = (float)(current_loc.alt - home.alt) * .01;
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float egg_dist = sqrt(temp / 4.903) * (float)g_gps->ground_speed *.01;
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if(g.waypoint_index == 3){
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if(wp_distance < egg_dist){
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g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 100;
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}
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}else{
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g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 0;
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}
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}
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}
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#if CAMERA == ENABLED
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void johann_check() // if you aren't Johann it doesn't really matter :D
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{
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APM_RC.OutputCh(CH_7,1500 + (350));
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if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
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if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
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g.camera.trigger_pic();
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}
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}
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if(g.waypoint_index == 20){ // When here do whats underneath
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g.camera.trigger_pic();
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}
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}
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#endif
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# define CH8_MAX 2000
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#endif
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//////////////////////////////////////////////////////////////////////////////
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#ifndef RC_5_FUNCT
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# define RC_5_FUNCT RC_5_FUNCT_NONE
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#endif
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#ifndef RC_6_FUNCT
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# define RC_6_FUNCT RC_6_FUNCT_NONE
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#endif
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#ifndef RC_7_FUNCT
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# define RC_7_FUNCT RC_7_FUNCT_NONE
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#endif
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#ifndef RC_8_FUNCT
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# define RC_8_FUNCT RC_8_FUNCT_NONE
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#endif
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#ifndef FLAP_1_PERCENT
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# define FLAP_1_PERCENT 0
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@ -41,12 +41,39 @@
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#define GPS_PROTOCOL_MTK16 6
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#define GPS_PROTOCOL_AUTO 7
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// Radio channels
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// Note channels are from 0!
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//
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// XXX these should be CH_n defines from RC.h at some point.
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#define CH_ROLL CH_1
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#define CH_PITCH CH_2
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#define CH_THROTTLE CH_3
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#define CH_RUDDER CH_4
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#define CH_YAW CH_4
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#define RC_5_FUNCT_NONE 0
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#define RC_5_FUNCT_AILERON 1
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#define RC_5_FUNCT_FLAP_AUTO 2
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#define RC_5_FUNCT_FLAPERON 3
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#define RC_6_FUNCT_NONE 0
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#define RC_6_FUNCT_AILERON 1
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#define RC_6_FUNCT_FLAP_AUTO 2
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#define RC_6_FUNCT_FLAPERON 3
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#define RC_7_FUNCT_NONE 0
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#define RC_8_FUNCT_NONE 0
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// HIL enumerations
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#define HIL_PROTOCOL_XPLANE 1
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#define HIL_PROTOCOL_MAVLINK 2
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@ -28,22 +28,6 @@ static void init_rc_in()
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G_RC_AUX(k_flap_auto)->set_range(0,100);
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G_RC_AUX(k_aileron)->set_angle(SERVO_MAX);
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G_RC_AUX(k_flaperon)->set_range(0,100);
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#if CAMERA == ENABLED
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G_RC_AUX(k_mount_yaw)->set_range(
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g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max / 10);
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G_RC_AUX(k_mount_pitch)->set_range(
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g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max / 10);
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G_RC_AUX(k_mount_roll)->set_range(
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g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max / 10);
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G_RC_AUX(k_cam_trigger)->set_range(
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g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_min / 10,
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g_rc_function[RC_Channel_aux::k_cam_trigger]->angle_max / 10);
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G_RC_AUX(k_cam_open)->set_range(0,100);
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#endif
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G_RC_AUX(k_egg_drop)->set_range(0,100);
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}
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static void init_rc_out()
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@ -56,7 +40,7 @@ static void init_rc_out()
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APM_RC.OutputCh(CH_5, g.rc_5.radio_trim);
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APM_RC.OutputCh(CH_6, g.rc_6.radio_trim);
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APM_RC.OutputCh(CH_7, g.rc_7.radio_trim);
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APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
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APM_RC.OutputCh(CH_8, g.rc_8.radio_trim);
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APM_RC.Init(); // APM Radio initialization
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@ -5,17 +5,6 @@
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#define MIN_PULSEWIDTH 900
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#define MAX_PULSEWIDTH 2100
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// Radio channels
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// Note channels are from 0!
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#define CH_1 0
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#define CH_2 1
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#define CH_3 2
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#define CH_4 3
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#define CH_5 4
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#define CH_6 5
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#define CH_7 6
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#define CH_8 7
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#include <inttypes.h>
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class APM_RC_Class
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@ -1,113 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_Camera.h>
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#include <../RC_Channel/RC_Channel_aux.h>
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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extern long wp_distance;
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extern "C" {
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void relay_on();
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void relay_off();
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}
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|
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void
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AP_Camera::servo_pic() // Servo operated camera
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{
|
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if (g_rc_function[RC_Channel_aux::k_cam_trigger])
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{
|
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g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max;
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keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
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}
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}
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|
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void
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AP_Camera::relay_pic() // basic relay activation
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{
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relay_on();
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keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
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}
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void
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AP_Camera::throttle_pic() // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
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{
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// TODO find a way to do this without using the global parameter g
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// g.channel_throttle.radio_out = g.throttle_min;
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if (thr_pic == 10){
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servo_pic(); // triggering method
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thr_pic = 0;
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// g.channel_throttle.radio_out = g.throttle_cruise;
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}
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thr_pic++;
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}
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void
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AP_Camera::distance_pic() // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
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{
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// TODO find a way to do this without using the global parameter g
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// g.channel_throttle.radio_out = g.throttle_min;
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if (wp_distance < 3){
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servo_pic(); // triggering method
|
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// g.channel_throttle.radio_out = g.throttle_cruise;
|
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}
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}
|
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|
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void
|
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AP_Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output.
|
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{
|
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// TODO: Assign pin spare pin for output
|
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digitalWrite(camtrig, HIGH);
|
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keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
|
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}
|
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|
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// single entry point to take pictures
|
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void
|
||||
AP_Camera::trigger_pic()
|
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{
|
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switch (trigger_type)
|
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{
|
||||
case 0:
|
||||
servo_pic(); // Servo operated camera
|
||||
break;
|
||||
case 1:
|
||||
relay_pic(); // basic relay activation
|
||||
break;
|
||||
case 2:
|
||||
throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
|
||||
break;
|
||||
case 3:
|
||||
distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
|
||||
break;
|
||||
case 4:
|
||||
NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// de-activate the trigger after some delay, but without using a delay() function
|
||||
void
|
||||
AP_Camera::trigger_pic_cleanup()
|
||||
{
|
||||
if (keep_cam_trigg_active_cycles)
|
||||
{
|
||||
keep_cam_trigg_active_cycles --;
|
||||
}
|
||||
else
|
||||
{
|
||||
switch (trigger_type)
|
||||
{
|
||||
case 0:
|
||||
case 2:
|
||||
case 3:
|
||||
G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
|
||||
break;
|
||||
case 1:
|
||||
// TODO for some strange reason the function call bellow gives a linker error
|
||||
//relay_off();
|
||||
PORTL &= ~B00000100; // hardcoded version of relay_off(). Replace with a proper function call later.
|
||||
break;
|
||||
case 4:
|
||||
digitalWrite(camtrig, LOW);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,57 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/// @file AP_Camera.h
|
||||
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
|
||||
|
||||
#ifndef AP_CAMERA_H
|
||||
#define AP_CAMERA_H
|
||||
|
||||
#include <AP_Common.h>
|
||||
|
||||
/// @class Camera
|
||||
/// @brief Object managing a Photo or video camera
|
||||
class AP_Camera{
|
||||
protected:
|
||||
AP_Var_group _group; // must be before all vars to keep ctor init order correct
|
||||
|
||||
public:
|
||||
/// Constructor
|
||||
///
|
||||
/// @param key EEPROM storage key for the camera configuration parameters.
|
||||
/// @param name Optional name for the group.
|
||||
///
|
||||
AP_Camera(AP_Var::Key key, const prog_char_t *name) :
|
||||
_group(key, name),
|
||||
trigger_type(&_group, 0, 0, name ? PSTR("TRIGG_TYPE") : 0),
|
||||
picture_time (0), // waypoint trigger variable
|
||||
thr_pic (0), // timer variable for throttle_pic
|
||||
camtrig (83), // PK6 chosen as it not near anything so safer for soldering
|
||||
keep_cam_trigg_active_cycles (0),
|
||||
wp_distance_min (10)
|
||||
{}
|
||||
|
||||
// single entry point to take pictures
|
||||
void trigger_pic();
|
||||
|
||||
// de-activate the trigger after some delay, but without using a delay() function
|
||||
void trigger_pic_cleanup();
|
||||
|
||||
int picture_time; // waypoint trigger variable
|
||||
long wp_distance_min; // take picture if distance to WP is smaller than this
|
||||
|
||||
private:
|
||||
uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
|
||||
int thr_pic; // timer variable for throttle_pic
|
||||
int camtrig; // PK6 chosen as it not near anything so safer for soldering
|
||||
|
||||
AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
|
||||
|
||||
void servo_pic(); // Servo operated camera
|
||||
void relay_pic(); // basic relay activation
|
||||
void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
|
||||
void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
|
||||
void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
|
||||
|
||||
};
|
||||
|
||||
#endif /* AP_CAMERA_H */
|
||||
|
|
@ -1,7 +1,7 @@
|
|||
#ifndef AP_DCM_h
|
||||
#define AP_DCM_h
|
||||
|
||||
// temporarily include all other classes here
|
||||
// teporarily include all other classes here
|
||||
// since this naming is a bit off from the
|
||||
// convention and the AP_DCM should be the top
|
||||
// header file
|
||||
|
|
|
|||
|
|
@ -1,192 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
#include <AP_Mount.h>
|
||||
#include <../RC_Channel/RC_Channel_aux.h>
|
||||
|
||||
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
AP_Mount::AP_Mount(GPS *gps, AP_DCM *dcm)
|
||||
{
|
||||
_dcm=dcm;
|
||||
_gps=gps;
|
||||
}
|
||||
|
||||
void AP_Mount::set_pitch_yaw(int pitchCh, int yawCh)
|
||||
{
|
||||
}
|
||||
|
||||
void AP_Mount::set_GPS_target(Location targetGPSLocation)
|
||||
{
|
||||
_target_GPS_location=targetGPSLocation;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_gps_target;
|
||||
|
||||
//update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
void AP_Mount::set_assisted(int roll, int pitch, int yaw)
|
||||
{
|
||||
_assist_angles.x = roll;
|
||||
_assist_angles.y = pitch;
|
||||
_assist_angles.z = yaw;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_assisted;
|
||||
|
||||
//update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
//sets the servo angles for FPV, note angles are * 100
|
||||
void AP_Mount::set_mount_free_roam(int roll, int pitch, int yaw)
|
||||
{
|
||||
_roam_angles.x=roll;
|
||||
_roam_angles.y=pitch;
|
||||
_roam_angles.z=yaw;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_roam;
|
||||
|
||||
//now update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
//sets the servo angles for landing, note angles are * 100
|
||||
void AP_Mount::set_mount_landing(int roll, int pitch, int yaw)
|
||||
{
|
||||
_landing_angles.x=roll;
|
||||
_landing_angles.y=pitch;
|
||||
_landing_angles.z=yaw;
|
||||
|
||||
//set mode
|
||||
_mount_mode=k_landing;
|
||||
|
||||
//now update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
void AP_Mount::set_none()
|
||||
{
|
||||
//set mode
|
||||
_mount_mode=k_none;
|
||||
|
||||
//now update mount position
|
||||
update_mount();
|
||||
}
|
||||
|
||||
void AP_Mount::update_mount()
|
||||
{
|
||||
Matrix3f m; //holds 3 x 3 matrix, var is used as temp in calcs
|
||||
Vector3f targ; //holds target vector, var is used as temp in calcs
|
||||
|
||||
switch(_mount_mode)
|
||||
{
|
||||
case k_gps_target:
|
||||
{
|
||||
if(_gps->fix)
|
||||
{
|
||||
calc_GPS_target_vector(&_target_GPS_location);
|
||||
}
|
||||
m = _dcm->get_dcm_transposed();
|
||||
targ = m*_GPS_vector;
|
||||
roll_angle = degrees(atan2(targ.y,targ.z))*100; //roll
|
||||
pitch_angle = degrees(atan2(-targ.x,targ.z))*100; //pitch
|
||||
break;
|
||||
}
|
||||
case k_stabilise:
|
||||
{
|
||||
// TODO replace this simplified implementation with a proper one
|
||||
roll_angle = -_dcm->roll_sensor;
|
||||
pitch_angle = -_dcm->pitch_sensor;
|
||||
yaw_angle = -_dcm->yaw_sensor;
|
||||
break;
|
||||
}
|
||||
case k_roam:
|
||||
{
|
||||
roll_angle=100*_roam_angles.x;
|
||||
pitch_angle=100*_roam_angles.y;
|
||||
yaw_angle=100*_roam_angles.z;
|
||||
break;
|
||||
}
|
||||
case k_assisted:
|
||||
{
|
||||
m = _dcm->get_dcm_transposed();
|
||||
//rotate vector
|
||||
targ = m*_assist_vector;
|
||||
roll_angle = degrees(atan2(targ.y,targ.z))*100; //roll
|
||||
pitch_angle = degrees(atan2(-targ.x,targ.z))*100; //pitch
|
||||
break;
|
||||
}
|
||||
case k_landing:
|
||||
{
|
||||
roll_angle=100*_roam_angles.x;
|
||||
pitch_angle=100*_roam_angles.y;
|
||||
yaw_angle=100*_roam_angles.z;
|
||||
break;
|
||||
}
|
||||
case k_manual: // radio manual control
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_roll])
|
||||
roll_angle = map(g_rc_function[RC_Channel_aux::k_mount_roll]->radio_in,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max);
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_pitch])
|
||||
pitch_angle = map(g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_in,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max);
|
||||
if (g_rc_function[RC_Channel_aux::k_mount_yaw])
|
||||
yaw_angle = map(g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_in,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min,
|
||||
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max);
|
||||
break;
|
||||
case k_none:
|
||||
default:
|
||||
{
|
||||
//do nothing
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// write the results to the servos
|
||||
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
|
||||
G_RC_AUX(k_mount_roll)->closest_limit(roll_angle/10);
|
||||
G_RC_AUX(k_mount_pitch)->closest_limit(pitch_angle/10);
|
||||
G_RC_AUX(k_mount_yaw)->closest_limit(yaw_angle/10);
|
||||
}
|
||||
|
||||
void AP_Mount::set_mode(MountMode mode)
|
||||
{
|
||||
_mount_mode=mode;
|
||||
}
|
||||
|
||||
void AP_Mount::calc_GPS_target_vector(struct Location *target)
|
||||
{
|
||||
_GPS_vector.x = (target->lng-_gps->longitude) * cos((_gps->latitude+target->lat)/2)*.01113195;
|
||||
_GPS_vector.y = (target->lat-_gps->latitude)*.01113195;
|
||||
_GPS_vector.z = (_gps->altitude-target->alt);
|
||||
}
|
||||
|
||||
void
|
||||
AP_Mount::update_mount_type()
|
||||
{
|
||||
// Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] == NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
|
||||
{
|
||||
_mount_type = k_pan_tilt;
|
||||
}
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] == NULL))
|
||||
{
|
||||
_mount_type = k_tilt_roll;
|
||||
}
|
||||
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
|
||||
{
|
||||
_mount_type = k_pan_tilt_roll;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,90 +0,0 @@
|
|||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
|
||||
/************************************************************
|
||||
* AP_mount -- library to control a 2 or 3 axis mount. *
|
||||
* *
|
||||
* Author: Joe Holdsworth; *
|
||||
* Ritchie Wilson; *
|
||||
* Amilcar Lucas; *
|
||||
* *
|
||||
* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
|
||||
* Used for mount to track targets or stabilise *
|
||||
* camera plus other modes. *
|
||||
* *
|
||||
* Usage: Use in main code to control mounts attached to *
|
||||
* vehicle. *
|
||||
* *
|
||||
*Comments: All angles in degrees * 100, distances in meters*
|
||||
* unless otherwise stated. *
|
||||
************************************************************/
|
||||
#ifndef AP_Mount_H
|
||||
#define AP_Mount_H
|
||||
|
||||
//#include <AP_Common.h>
|
||||
#include <AP_Math.h>
|
||||
#include <AP_GPS.h>
|
||||
#include <AP_DCM.h>
|
||||
|
||||
class AP_Mount
|
||||
{
|
||||
public:
|
||||
//Constructors
|
||||
AP_Mount(GPS *gps, AP_DCM *dcm);
|
||||
|
||||
//enums
|
||||
enum MountMode{
|
||||
k_gps_target = 0,
|
||||
k_stabilise = 1, //note the correct English spelling :)
|
||||
k_roam = 2,
|
||||
k_assisted = 3,
|
||||
k_landing = 4,
|
||||
k_none = 5,
|
||||
k_manual = 6
|
||||
};
|
||||
|
||||
enum MountType{
|
||||
k_pan_tilt = 0, //yaw-pitch
|
||||
k_tilt_roll = 1, //pitch-roll
|
||||
k_pan_tilt_roll = 2, //yaw-pitch-roll
|
||||
};
|
||||
|
||||
//Accessors
|
||||
void set_pitch_yaw(int pitchCh, int yawCh);
|
||||
void set_pitch_roll(int pitchCh, int rollCh);
|
||||
void set_pitch_roll_yaw(int pitchCh, int rollCh, int yawCh);
|
||||
|
||||
void set_GPS_target(Location targetGPSLocation); //used to tell the mount to track GPS location
|
||||
void set_assisted(int roll, int pitch, int yaw);
|
||||
void set_mount_free_roam(int roll, int pitch, int yaw);//used in the FPV for example,
|
||||
void set_mount_landing(int roll, int pitch, int yaw); //set mount landing position
|
||||
void set_none();
|
||||
|
||||
//methods
|
||||
void update_mount();
|
||||
void update_mount_type(); //Auto-detect the mount gimbal type depending on the functions assigned to the servos
|
||||
void set_mode(MountMode mode);
|
||||
|
||||
int pitch_angle; //degrees*100
|
||||
int roll_angle; //degrees*100
|
||||
int yaw_angle; //degrees*100
|
||||
protected:
|
||||
//methods
|
||||
void calc_GPS_target_vector(struct Location *target);
|
||||
//void CalculateDCM(int roll, int pitch, int yaw);
|
||||
//members
|
||||
AP_DCM *_dcm;
|
||||
GPS *_gps;
|
||||
|
||||
MountMode _mount_mode;
|
||||
MountType _mount_type;
|
||||
|
||||
struct Location _target_GPS_location;
|
||||
Vector3f _GPS_vector; //target vector calculated stored in meters
|
||||
|
||||
Vector3i _roam_angles; //used for roam mode vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
Vector3i _landing_angles; //landing position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
|
||||
|
||||
Vector3i _assist_angles; //used to keep angles that user has supplied from assisted targeting
|
||||
Vector3f _assist_vector; //used to keep vector calculated from _AssistAngles
|
||||
};
|
||||
#endif
|
||||
|
|
@ -120,7 +120,7 @@ RC_Channel::calc_pwm(void)
|
|||
{
|
||||
if(_type == RC_CHANNEL_RANGE){
|
||||
pwm_out = range_to_pwm();
|
||||
radio_out = (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out);
|
||||
radio_out = pwm_out + radio_min;
|
||||
|
||||
}else if(_type == RC_CHANNEL_ANGLE_RAW){
|
||||
pwm_out = (float)servo_out * .1;
|
||||
|
|
|
|||
|
|
@ -7,11 +7,12 @@
|
|||
#define RC_Channel_h
|
||||
|
||||
#include <AP_Common.h>
|
||||
#include <stdint.h>
|
||||
|
||||
/// @class RC_Channel
|
||||
/// @brief Object managing one RC channel
|
||||
class RC_Channel{
|
||||
protected:
|
||||
private:
|
||||
AP_Var_group _group; // must be before all vars to keep ctor init order correct
|
||||
|
||||
public:
|
||||
|
|
@ -102,7 +103,8 @@ class RC_Channel{
|
|||
int16_t _low;
|
||||
};
|
||||
|
||||
// This is ugly, but it fixes compilation on arduino
|
||||
#include "RC_Channel_aux.h"
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -5,42 +5,6 @@
|
|||
|
||||
extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
|
||||
|
||||
int16_t
|
||||
RC_Channel_aux::closest_limit(int16_t angle)
|
||||
{
|
||||
// Change scaling to 0.1 degrees in order to avoid overflows in the angle arithmetic
|
||||
int16_t min = angle_min / 10;
|
||||
int16_t max = angle_max / 10;
|
||||
|
||||
// Make sure the angle lies in the interval [-180 .. 180[ degrees
|
||||
while (angle < -1800) angle += 3600;
|
||||
while (angle >= 1800) angle -= 3600;
|
||||
|
||||
// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
|
||||
while (min < -1800) min += 3600;
|
||||
while (min >= 1800) min -= 3600;
|
||||
while (max < -1800) max += 3600;
|
||||
while (max >= 1800) max -= 3600;
|
||||
// This is done every time because the user might change the min, max values on the fly
|
||||
set_range(min, max);
|
||||
|
||||
// If the angle is outside servo limits, saturate the angle to the closest limit
|
||||
// On a circle the closest angular position must be carefully calculated to account for wrap-around
|
||||
if ((angle < min) && (angle > max)){
|
||||
// angle error if min limit is used
|
||||
int16_t err_min = min - angle + (angle<min?0:3600); // add 360 degrees if on the "wrong side"
|
||||
// angle error if max limit is used
|
||||
int16_t err_max = angle - max + (angle>max?0:3600); // add 360 degrees if on the "wrong side"
|
||||
angle = err_min<err_max?min:max;
|
||||
}
|
||||
|
||||
servo_out = angle;
|
||||
// convert angle to PWM using a linear transformation (ignores trimming because the camera limits might not be symmetric)
|
||||
calc_pwm();
|
||||
|
||||
return angle;
|
||||
}
|
||||
|
||||
// map a function to a servo channel and output it
|
||||
void
|
||||
RC_Channel_aux::output_ch(unsigned char ch_nr)
|
||||
|
|
|
|||
|
|
@ -37,12 +37,6 @@ public:
|
|||
k_flap_auto = 3, // flap automated
|
||||
k_aileron = 4, // aileron
|
||||
k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing)
|
||||
k_mount_yaw = 6, // mount yaw (pan)
|
||||
k_mount_pitch = 7, // mount pitch (tilt)
|
||||
k_mount_roll = 8, // mount roll
|
||||
k_cam_trigger = 9, // camera trigger
|
||||
k_cam_open = 10, // camera open
|
||||
k_egg_drop = 11, // egg drop
|
||||
k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one)
|
||||
} Aux_servo_function_t;
|
||||
|
||||
|
|
@ -50,8 +44,6 @@ public:
|
|||
AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units
|
||||
AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units
|
||||
|
||||
int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval
|
||||
|
||||
void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it
|
||||
|
||||
};
|
||||
|
|
|
|||
Loading…
Reference in New Issue