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AP_Mount: Viewpro inherits from serial backend

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Randy Mackay 2024-05-22 12:41:01 +09:00 committed by Andrew Tridgell
parent 790b5e8565
commit 7fc00efe7e
2 changed files with 3 additions and 23 deletions
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15
libraries/AP_Mount/AP_Mount_Viewpro.cpp
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@ -7,7 +7,6 @@
#include <AP_RTC/AP_RTC.h> #include <AP_RTC/AP_RTC.h>
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/include/mavlink/v2.0/checksum.h> #include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -28,20 +27,6 @@ extern const AP_HAL::HAL& hal;
const char* AP_Mount_Viewpro::send_text_prefix = "Viewpro:"; const char* AP_Mount_Viewpro::send_text_prefix = "Viewpro:";
// init - performs any required initialisation for this instance
void AP_Mount_Viewpro::init()
{
const AP_SerialManager& serial_manager = AP::serialmanager();
_uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Gimbal, 0);
if (_uart == nullptr) {
return;
}
_initialised = true;
AP_Mount_Backend::init();
}
// update mount position - should be called periodically // update mount position - should be called periodically
void AP_Mount_Viewpro::update() void AP_Mount_Viewpro::update()
{ {

11
libraries/AP_Mount/AP_Mount_Viewpro.h
View File

@ -16,7 +16,7 @@
#pragma once #pragma once
#include "AP_Mount_Backend.h" #include "AP_Mount_Backend_Serial.h"
#if HAL_MOUNT_VIEWPRO_ENABLED #if HAL_MOUNT_VIEWPRO_ENABLED
@ -27,19 +27,16 @@
#define AP_MOUNT_VIEWPRO_PACKETLEN_MAX 63 // maximum number of bytes in a packet sent to or received from the gimbal #define AP_MOUNT_VIEWPRO_PACKETLEN_MAX 63 // maximum number of bytes in a packet sent to or received from the gimbal
class AP_Mount_Viewpro : public AP_Mount_Backend class AP_Mount_Viewpro : public AP_Mount_Backend_Serial
{ {
public: public:
// Constructor // Constructor
using AP_Mount_Backend::AP_Mount_Backend; using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
/* Do not allow copies */ /* Do not allow copies */
CLASS_NO_COPY(AP_Mount_Viewpro); CLASS_NO_COPY(AP_Mount_Viewpro);
// init - performs any required initialisation for this instance
void init() override;
// update mount position - should be called periodically // update mount position - should be called periodically
void update() override; void update() override;
@ -378,8 +375,6 @@ private:
bool send_m_ahrs(); bool send_m_ahrs();
// internal variables // internal variables
AP_HAL::UARTDriver *_uart; // uart connected to gimbal
bool _initialised; // true once the driver has been initialised
uint8_t _msg_buff[AP_MOUNT_VIEWPRO_PACKETLEN_MAX]; // buffer holding latest bytes from gimbal uint8_t _msg_buff[AP_MOUNT_VIEWPRO_PACKETLEN_MAX]; // buffer holding latest bytes from gimbal
uint8_t _msg_buff_len; // number of bytes held in msg buff uint8_t _msg_buff_len; // number of bytes held in msg buff
const uint8_t _msg_buff_data_start = 2; // data starts at this byte of _msg_buff const uint8_t _msg_buff_data_start = 2; // data starts at this byte of _msg_buff