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This commit is contained in:
Amilcar Lucas 2012-08-27 00:37:10 +02:00
parent 27091b1abd
commit 7a0c47d049
1 changed files with 11 additions and 11 deletions
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22
libraries/AP_Mount/AP_Mount.h
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@ -15,7 +15,7 @@
* Usage: Use in main code to control mounts attached to * * Usage: Use in main code to control mounts attached to *
* vehicle. * * vehicle. *
* * * *
**Comments: All angles in degrees * 100, distances in meters* * Comments: All angles in degrees * 100, distances in meters*
* unless otherwise stated. * * unless otherwise stated. *
************************************************************/ ************************************************************/
#ifndef AP_Mount_H #ifndef AP_Mount_H
@ -37,9 +37,9 @@ public:
//enums //enums
enum MountType { enum MountType {
k_unknown = 0, ///< unknown type k_unknown = 0, ///< unknown type
k_pan_tilt = 1, ///< yaw-pitch k_pan_tilt = 1, ///< yaw-pitch
k_tilt_roll = 2, ///< pitch-roll k_tilt_roll = 2, ///< pitch-roll
k_pan_tilt_roll = 3, ///< yaw-pitch-roll k_pan_tilt_roll = 3, ///< yaw-pitch-roll
}; };
@ -54,7 +54,7 @@ public:
// should be called periodically // should be called periodically
void update_mount_position(); void update_mount_position();
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
void debug_output(); ///< For testing and development. Called in the medium loop. void debug_output(); ///< For testing and development. Called in the medium loop.
// Accessors // Accessors
enum MountType get_mount_type() { enum MountType get_mount_type() {
return _mount_type; return _mount_type;
@ -89,21 +89,21 @@ private:
uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index
uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index
uint8_t _pan_idx; ///< RC_Channel_aux mount pan function index uint8_t _pan_idx; ///< RC_Channel_aux mount pan function index
uint8_t _open_idx; ///< RC_Channel_aux mount open function index uint8_t _open_idx; ///< RC_Channel_aux mount open function index
float _roll_control_angle; ///< radians float _roll_control_angle; ///< radians
float _tilt_control_angle; ///< radians float _tilt_control_angle; ///< radians
float _pan_control_angle; ///< radians float _pan_control_angle; ///< radians
float _roll_angle; ///< degrees float _roll_angle; ///< degrees
float _tilt_angle; ///< degrees float _tilt_angle; ///< degrees
float _pan_angle; ///< degrees float _pan_angle; ///< degrees
// EEPROM parameters // EEPROM parameters
AP_Int8 _stab_roll; ///< (1 = yes, 0 = no) AP_Int8 _stab_roll; ///< (1 = yes, 0 = no)
AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no) AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no)
AP_Int8 _stab_pan; ///< (1 = yes, 0 = no) AP_Int8 _stab_pan; ///< (1 = yes, 0 = no)
AP_Int8 _mount_mode; AP_Int8 _mount_mode;
// RC_Channel for providing direct angular input from pilot // RC_Channel for providing direct angular input from pilot
@ -115,8 +115,8 @@ private:
AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
AP_Int8 _joystick_speed; AP_Int8 _joystick_speed;