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Sub: Add camera pan functionality 

Fix bluerobotics/ardusub#134

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-02-15 17:56:35 -02:00 committed by jaxxzer
parent 1196019b53
commit aafede65f7
3 changed files with 16 additions and 6 deletions
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7
ArduSub/GCS_Mavlink.cpp
View File

@ -358,6 +358,13 @@ bool NOINLINE Sub::send_info(mavlink_channel_t chan)
"CamTilt",
1 - (SRV_Channels::get_output_norm(SRV_Channel::k_mount_tilt) / 2.0f + 0.5f));
CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
mavlink_msg_named_value_float_send(
chan,
AP_HAL::millis(),
"CamPan",
1 - (SRV_Channels::get_output_norm(SRV_Channel::k_mount_pan) / 2.0f + 0.5f));
CHECK_PAYLOAD_SIZE2(NAMED_VALUE_FLOAT);
mavlink_msg_named_value_float_send(
chan,

14
ArduSub/joystick.cpp
View File

@ -6,6 +6,7 @@
// Anonymous namespace to hold variables used only in this file
namespace {
float cam_tilt = 1500.0;
float cam_pan = 1500.0;
int16_t lights1 = 1100;
int16_t lights2 = 1100;
int16_t rollTrim = 0;
@ -61,8 +62,9 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
bool shift = false;
// Neutralize camera tilt speed setpoint
// Neutralize camera tilt and pan speed setpoint
cam_tilt = 1500;
cam_pan = 1500;
// Detect if any shift button is pressed
for (uint8_t i = 0 ; i < 16 ; i++) {
@ -108,7 +110,7 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
channels[5] = constrain_int16(yTrim*rpyScale+rpyCenter,1100,1900); // lateral for ROV
}
channels[6] = 0; // Unused
channels[6] = cam_pan; // camera pan
channels[7] = cam_tilt; // camera tilt
channels[8] = lights1; // lights 1
channels[9] = lights2; // lights 2
@ -192,10 +194,10 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
}
break;
case JSButton::button_function_t::k_mount_pan_right:
// Not implemented
cam_pan = 1900;
break;
case JSButton::button_function_t::k_mount_pan_left:
// Not implemented
cam_pan = 1100;
break;
case JSButton::button_function_t::k_lights1_cycle:
if (!held) {
@ -661,8 +663,8 @@ void Sub::default_js_buttons()
{JSButton::button_function_t::k_mount_center, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_input_hold_set, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mount_tilt_down, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mount_tilt_up, JSButton::button_function_t::k_none},
{JSButton::button_function_t::k_mount_tilt_down, JSButton::button_function_t::k_mount_pan_left},
{JSButton::button_function_t::k_mount_tilt_up, JSButton::button_function_t::k_mount_pan_right},
{JSButton::button_function_t::k_gain_inc, JSButton::button_function_t::k_trim_pitch_dec},
{JSButton::button_function_t::k_gain_dec, JSButton::button_function_t::k_trim_pitch_inc},

1
ArduSub/radio.cpp
View File

@ -31,6 +31,7 @@ void Sub::init_rc_in()
hal.rcin->set_override(i, 1500);
}
hal.rcin->set_override(6, 1500); // camera pan channel
hal.rcin->set_override(7, 1500); // camera tilt channel
RC_Channel* chan = RC_Channels::rc_channel(8);