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AP_Mount: Add clear_roi_target() function

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This commit is contained in:
Nick Exton 2023-02-15 15:52:56 +11:00 committed by Randy Mackay
parent e12d9e38c7
commit 5d39dd45be
4 changed files with 29 additions and 0 deletions
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10
libraries/AP_Mount/AP_Mount.cpp
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@ -595,6 +595,16 @@ void AP_Mount::set_roi_target(uint8_t instance, const Location &target_loc)
backend->set_roi_target(target_loc);
}
// clear_roi_target - clears target location that mount should attempt to point towards
void AP_Mount::clear_roi_target(uint8_t instance)
{
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
backend->clear_roi_target();
}
//
// camera controls for gimbals that include a camera
//

4
libraries/AP_Mount/AP_Mount.h
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@ -139,6 +139,10 @@ public:
void set_roi_target(const Location &target_loc) { set_roi_target(_primary,target_loc); }
void set_roi_target(uint8_t instance, const Location &target_loc);
// clear_roi_target - clears target location that mount should attempt to point towards
void clear_roi_target() { clear_roi_target(_primary); }
void clear_roi_target(uint8_t instance);
// point at system ID sysid
void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); }
void set_target_sysid(uint8_t instance, uint8_t sysid);

13
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -48,6 +48,19 @@ void AP_Mount_Backend::set_roi_target(const Location &target_loc)
set_mode(MAV_MOUNT_MODE_GPS_POINT);
}
// clear_roi_target - clears target location that mount should attempt to point towards
void AP_Mount_Backend::clear_roi_target()
{
// clear the target GPS location
_roi_target_set = false;
// reset the mode if in GPS tracking mode
if (_mode == MAV_MOUNT_MODE_GPS_POINT) {
MAV_MOUNT_MODE default_mode = (MAV_MOUNT_MODE)_params.default_mode.get();
set_mode(default_mode);
}
}
// set_sys_target - sets system that mount should attempt to point towards
void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
{

2
libraries/AP_Mount/AP_Mount_Backend.h
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@ -74,6 +74,8 @@ public:
// set_roi_target - sets target location that mount should attempt to point towards
void set_roi_target(const Location &target_loc);
// clear_roi_target - clears target location that mount should attempt to point towards
void clear_roi_target();
// set_sys_target - sets system that mount should attempt to point towards
void set_target_sysid(uint8_t sysid);