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Mount_Servo: remove set_roi_target, configure 

These methods are now in the backend
This commit is contained in:
Randy Mackay 2015-01-15 16:47:06 +09:00 committed by Andrew Tridgell
parent 72fec52f0f
commit 99c35d5cf7
2 changed files with 0 additions and 75 deletions
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66
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -103,16 +103,6 @@ void AP_Mount_Servo::set_mode(enum MAV_MOUNT_MODE mode)
_frontend.state[_instance]._mode = mode;
}
// set_roi_target - sets target location that mount should attempt to point towards
void AP_Mount_Servo::set_roi_target(const struct Location &target_loc)
{
// set the target gps location
_frontend.state[_instance]._roi_target = target_loc;
// set the mode to GPS tracking mode
_frontend.set_mode(_instance, MAV_MOUNT_MODE_GPS_POINT);
}
// private methods
// check_servo_map - detects which axis we control using the functions assigned to the servos in the RC_Channel_aux
@ -124,62 +114,6 @@ void AP_Mount_Servo::check_servo_map()
_flags.pan_control = RC_Channel_aux::function_assigned(_pan_idx);
}
// configure_msg - process MOUNT_CONFIGURE messages received from GCS
void AP_Mount_Servo::configure_msg(mavlink_message_t* msg)
{
__mavlink_mount_configure_t packet;
mavlink_msg_mount_configure_decode(msg, &packet);
// set mode
_frontend.set_mode(_instance,(enum MAV_MOUNT_MODE)packet.mount_mode);
// set which axis are stabilized
_frontend.state[_instance]._stab_roll = packet.stab_roll;
_frontend.state[_instance]._stab_tilt = packet.stab_pitch;
_frontend.state[_instance]._stab_pan = packet.stab_yaw;
}
// control_msg - process MOUNT_CONTROL messages received from GCS
void AP_Mount_Servo::control_msg(mavlink_message_t *msg)
{
__mavlink_mount_control_t packet;
mavlink_msg_mount_control_decode(msg, &packet);
// interpret message fields based on mode
switch (_frontend.get_mode(_instance)) {
case MAV_MOUNT_MODE_RETRACT:
case MAV_MOUNT_MODE_NEUTRAL:
// do nothing with request if mount is retracted or in neutral position
break;
// set earth frame target angles from mavlink message
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
_angle_ef_target_rad.x = packet.input_b*0.01f; // convert roll in centi-degrees to degrees
_angle_ef_target_rad.y = packet.input_a*0.01f; // convert tilt in centi-degrees to degrees
_angle_ef_target_rad.z = packet.input_c*0.01f; // convert pan in centi-degrees to degrees
break;
// Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
case MAV_MOUNT_MODE_RC_TARGETING:
// do nothing if pilot is controlling the roll, pitch and yaw
break;
// set lat, lon, alt position targets from mavlink message
case MAV_MOUNT_MODE_GPS_POINT:
Location target_location;
target_location.lat = packet.input_a;
target_location.lng = packet.input_b;
target_location.alt = packet.input_c;
set_roi_target(target_location);
break;
default:
// do nothing
break;
}
}
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_Servo::status_msg(mavlink_channel_t chan)
{

9
libraries/AP_Mount/AP_Mount_Servo.h
View File

@ -45,15 +45,6 @@ public:
// set_mode - sets mount's mode
virtual void set_mode(enum MAV_MOUNT_MODE mode);
// set_roi_target - sets target location that mount should attempt to point towards
virtual void set_roi_target(const struct Location &target_loc);
// configure_msg - process MOUNT_CONFIGURE messages received from GCS
virtual void configure_msg(mavlink_message_t* msg);
// control_msg - process MOUNT_CONTROL messages received from GCS
virtual void control_msg(mavlink_message_t* msg);
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
virtual void status_msg(mavlink_channel_t chan);