Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Mount: add SToRM32 serial to front end

This commit is contained in:
Randy Mackay 2015-05-26 16:21:12 +09:00
parent c133511431
commit 72eb25b166
2 changed files with 13 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_Mount/AP_Mount.cpp
View File

@ -9,6 +9,7 @@
#include <AP_Mount_MAVLink.h>
#include <AP_Mount_Alexmos.h>
#include <AP_Mount_SToRM32.h>
#include <AP_Mount_SToRM32_serial.h>
const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Param: _DEFLT_MODE
@ -195,7 +196,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Param: _TYPE
// @DisplayName: Mount Type
// @Description: Mount Type (None, Servo or MAVLink)
// @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial, 4:SToRM32
// @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial
// @User: Standard
AP_GROUPINFO("_TYPE", 19, AP_Mount, state[0]._type, 0),
@ -451,7 +452,7 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
// @Param: 2_TYPE
// @DisplayName: Mount2 Type
// @Description: Mount Type (None, Servo or MAVLink)
// @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial, 4:SToRM32
// @Values: 0:None, 1:Servo, 2:MAVLink, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial
// @User: Standard
AP_GROUPINFO("2_TYPE", 42, AP_Mount, state[1]._type, 0),
#endif // AP_MOUNT_MAX_INSTANCES > 1
@ -506,10 +507,15 @@ void AP_Mount::init(const AP_SerialManager& serial_manager)
_backends[instance] = new AP_Mount_Alexmos(*this, state[instance], instance);
_num_instances++;
// check for SToRM32 mounts
// check for SToRM32 mounts using MAVLink protocol
} else if (mount_type == Mount_Type_SToRM32) {
_backends[instance] = new AP_Mount_SToRM32(*this, state[instance], instance);
_num_instances++;
// check for SToRM32 mounts using serial protocol
} else if (mount_type == Mount_Type_SToRM32_serial) {
_backends[instance] = new AP_Mount_SToRM32_serial(*this, state[instance], instance);
_num_instances++;
}
// init new instance

5
libraries/AP_Mount/AP_Mount.h
View File

@ -39,6 +39,7 @@ class AP_Mount_Servo;
class AP_Mount_MAVLink;
class AP_Mount_Alexmos;
class AP_Mount_SToRM32;
class AP_Mount_SToRM32_serial;
/*
This is a workaround to allow the MAVLink backend access to the
@ -53,6 +54,7 @@ class AP_Mount
friend class AP_Mount_MAVLink;
friend class AP_Mount_Alexmos;
friend class AP_Mount_SToRM32;
friend class AP_Mount_SToRM32_serial;
public:
@ -62,7 +64,8 @@ public:
Mount_Type_Servo = 1, /// servo controlled mount
Mount_Type_MAVLink = 2, /// MAVLink controlled mount
Mount_Type_Alexmos = 3, /// Alexmos mount
Mount_Type_SToRM32 = 4 /// SToRM32 mount
Mount_Type_SToRM32 = 4, /// SToRM32 mount using MAVLink protocol
Mount_Type_SToRM32_serial = 5 /// SToRM32 mount using custom serial protocol
};
struct gimbal_params {