Plane: integrate mount frontend-backend restructure

initialise mount on startup
use mount.has_pan_control method
remove calls to unimplemented mount.configure_cmd
remove call to update_mount_type which is now handled by mount lib

ArduPlane/ArduPlane.pde

@@ -739,13 +739,7 @@ static uint16_t mainLoop_count;
 #if MOUNT == ENABLED
 // current_loc uses the baro/gps soloution for altitude rather than gps only.
 // mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
-static AP_Mount camera_mount(&current_loc, ahrs, 0);
+static AP_Mount camera_mount(ahrs, current_loc);
-#endif
-
-#if MOUNT2 == ENABLED
-// current_loc uses the baro/gps soloution for altitude rather than gps only.
-// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
-static AP_Mount camera_mount2(&current_loc, ahrs, 1);
 #endif
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -915,11 +909,7 @@ static void update_speed_height(void)
 static void update_mount(void)
 {
 #if MOUNT == ENABLED
-    camera_mount.update_mount_position();
+    camera_mount.update();
-#endif
-
-#if MOUNT2 == ENABLED
-    camera_mount2.update_mount_position();
 #endif
 
 #if CAMERA == ENABLED
@@ -1010,13 +1000,6 @@ static void update_aux(void)
     if (!px4io_override_enabled) {
         RC_Channel_aux::enable_aux_servos();
     }
-
-#if MOUNT == ENABLED
-        camera_mount.update_mount_type();
-#endif
-#if MOUNT2 == ENABLED
-        camera_mount2.update_mount_type();
-#endif
 }
 
 static void one_second_loop()

ArduPlane/GCS_Mavlink.pde

@@ -1020,7 +1020,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 }
             } else {
                 // send the command to the camera mount
-                camera_mount.set_roi_cmd(&roi_loc);
+                camera_mount.set_roi_target(roi_loc);
             }
             result = MAV_RESULT_ACCEPTED;
             break;

ArduPlane/Parameters.h

@@ -208,7 +208,7 @@ public:
         //
         k_param_camera = 160,
         k_param_camera_mount,
-        k_param_camera_mount2,
+        k_param_camera_mount2,      // unused
 
         //
         // Battery monitoring parameters

ArduPlane/Parameters.pde

@@ -1112,12 +1112,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     GOBJECT(camera_mount,           "MNT_", AP_Mount),
 #endif
 
-#if MOUNT2 == ENABLED
-    // @Group: MNT2_
-    // @Path: ../libraries/AP_Mount/AP_Mount.cpp
-    GOBJECT(camera_mount2,           "MNT2_",       AP_Mount),
-#endif
-
     // @Group: BATT_
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
     GOBJECT(battery,                "BATT", AP_BattMonitor),

ArduPlane/commands_logic.pde

@@ -176,18 +176,10 @@ start_command(const AP_Mission::Mission_Command& cmd)
                 camera_mount.set_mode_to_default();
             }
         } else {
-            // send the command to the camera mount
+            // set mount's target location
-            camera_mount.set_roi_cmd(&cmd.content.location);
+            camera_mount.set_roi_target(cmd.content.location);
         }
         break;
-
-    case MAV_CMD_DO_MOUNT_CONFIGURE:                    // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
-        camera_mount.configure_cmd();
-        break;
-
-    case MAV_CMD_DO_MOUNT_CONTROL:                      // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
-        camera_mount.control_cmd();
-        break;
 #endif
     }
 

ArduPlane/config.h

@@ -282,11 +282,6 @@
  # define MOUNT          ENABLED
 #endif
 
-// second mount, can for example be used to keep an antenna pointed at the home position
-#ifndef MOUNT2
- # define MOUNT2         DISABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // FLIGHT AND NAVIGATION CONTROL

ArduPlane/system.pde

@@ -186,6 +186,9 @@ static void init_ardupilot()
 
     relay.init();
 
+    // initialise camera mount
+    camera_mount.init();
+
 #if FENCE_TRIGGERED_PIN > 0
     hal.gpio->pinMode(FENCE_TRIGGERED_PIN, HAL_GPIO_OUTPUT);
     hal.gpio->write(FENCE_TRIGGERED_PIN, 0);