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AP_Mount: rearrange methods and variables per PR review

This commit is contained in:
Peter Barker 2024-12-16 19:02:11 +11:00 committed by Randy Mackay
parent 0b8ad6f1d9
commit aec7cc24d1
1 changed files with 7 additions and 4 deletions
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11
libraries/AP_Mount/AP_Mount_Backend.h
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@ -320,12 +320,17 @@ private:
// target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s // target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s
void get_rc_target(MountTargetType& target_type, MountTarget& rpy) const; void get_rc_target(MountTargetType& target_type, MountTarget& rpy) const;
bool _yaw_lock; // yaw_lock used in RC_TARGETING mode. True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame
// get angle targets (in radians) to a Location // get angle targets (in radians) to a Location
// returns true on success, false on failure // returns true on success, false on failure
bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED; bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED;
#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
// calculate the Location that the gimbal is pointing at
void calculate_poi();
#endif
bool _yaw_lock; // yaw_lock used in RC_TARGETING mode. True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame
#if AP_MOUNT_POI_TO_LATLONALT_ENABLED #if AP_MOUNT_POI_TO_LATLONALT_ENABLED
struct { struct {
HAL_Semaphore sem; // semaphore protecting this structure HAL_Semaphore sem; // semaphore protecting this structure
@ -335,8 +340,6 @@ private:
Location poi_loc; // location of the POI Location poi_loc; // location of the POI
Quaternion att_quat; // attitude quaternion of the gimbal Quaternion att_quat; // attitude quaternion of the gimbal
} poi_calculation; } poi_calculation;
// calculate the Location that the gimbal is pointing at
void calculate_poi();
#endif #endif
Location _roi_target; // roi target location Location _roi_target; // roi target location