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AP_Mount: integrate topotek gimbal driver

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Co-authored-by: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
laozhou 2024-03-26 22:35:29 +08:00 committed by Andrew Tridgell
parent d5d1b9885c
commit 611fb94660
4 changed files with 19 additions and 1 deletions
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9
libraries/AP_Mount/AP_Mount.cpp
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@ -15,6 +15,7 @@
#include "AP_Mount_Scripting.h" #include "AP_Mount_Scripting.h"
#include "AP_Mount_Xacti.h" #include "AP_Mount_Xacti.h"
#include "AP_Mount_Viewpro.h" #include "AP_Mount_Viewpro.h"
#include "AP_Mount_Topotek.h"
#include <stdio.h> #include <stdio.h>
#include <AP_Math/location.h> #include <AP_Math/location.h>
#include <SRV_Channel/SRV_Channel.h> #include <SRV_Channel/SRV_Channel.h>
@ -156,6 +157,14 @@ void AP_Mount::init()
serial_instance++; serial_instance++;
break; break;
#endif // HAL_MOUNT_VIEWPRO_ENABLED #endif // HAL_MOUNT_VIEWPRO_ENABLED
#if HAL_MOUNT_TOPOTEK_ENABLED
// check for Topotek gimbal
case Type::Topotek:
_backends[instance] = NEW_NOTHROW AP_Mount_Topotek(*this, _params[instance], instance, serial_instance);
_num_instances++;
break;
#endif // HAL_MOUNT_TOPOTEK_ENABLED
} }
// init new instance // init new instance

5
libraries/AP_Mount/AP_Mount.h
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@ -47,6 +47,7 @@ class AP_Mount_Siyi;
class AP_Mount_Scripting; class AP_Mount_Scripting;
class AP_Mount_Xacti; class AP_Mount_Xacti;
class AP_Mount_Viewpro; class AP_Mount_Viewpro;
class AP_Mount_Topotek;
/* /*
This is a workaround to allow the MAVLink backend access to the This is a workaround to allow the MAVLink backend access to the
@ -67,6 +68,7 @@ class AP_Mount
friend class AP_Mount_Scripting; friend class AP_Mount_Scripting;
friend class AP_Mount_Xacti; friend class AP_Mount_Xacti;
friend class AP_Mount_Viewpro; friend class AP_Mount_Viewpro;
friend class AP_Mount_Topotek;
public: public:
AP_Mount(); AP_Mount();
@ -114,6 +116,9 @@ public:
#endif #endif
#if HAL_MOUNT_VIEWPRO_ENABLED #if HAL_MOUNT_VIEWPRO_ENABLED
Viewpro = 11, /// Viewpro gimbal using a custom serial protocol Viewpro = 11, /// Viewpro gimbal using a custom serial protocol
#endif
#if HAL_MOUNT_TOPOTEK_ENABLED
Topotek = 12, /// Topotek gimbal using a custom serial protocol
#endif #endif
}; };

2
libraries/AP_Mount/AP_Mount_Params.cpp
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@ -9,7 +9,7 @@ const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
// @Param: _TYPE // @Param: _TYPE
// @DisplayName: Mount Type // @DisplayName: Mount Type
// @Description: Mount Type // @Description: Mount Type
// @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:Gremsy, 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro // @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:Gremsy, 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro, 12:Topotek
// @RebootRequired: True // @RebootRequired: True
// @User: Standard // @User: Standard
AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Mount_Params, type, 0, AP_PARAM_FLAG_ENABLE), AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Mount_Params, type, 0, AP_PARAM_FLAG_ENABLE),

4
libraries/AP_Mount/AP_Mount_config.h
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@ -54,6 +54,10 @@
#define AP_MOUNT_POI_TO_LATLONALT_ENABLED HAL_MOUNT_ENABLED && AP_TERRAIN_AVAILABLE && BOARD_FLASH_SIZE > 1024 #define AP_MOUNT_POI_TO_LATLONALT_ENABLED HAL_MOUNT_ENABLED && AP_TERRAIN_AVAILABLE && BOARD_FLASH_SIZE > 1024
#endif #endif
#ifndef HAL_MOUNT_TOPOTEK_ENABLED
#define HAL_MOUNT_TOPOTEK_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
#endif
// set camera source is supported on gimbals that may have more than one lens // set camera source is supported on gimbals that may have more than one lens
#ifndef HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED #ifndef HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
#define HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SIYI_ENABLED || HAL_MOUNT_XACTI_ENABLED || HAL_MOUNT_VIEWPRO_ENABLED #define HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SIYI_ENABLED || HAL_MOUNT_XACTI_ENABLED || HAL_MOUNT_VIEWPRO_ENABLED