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AP_Mount: Use AP_Gimbal on the AP_Mount_MAVLink class

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This commit is contained in:
Arthur Benemann 2015-03-20 13:19:34 -07:00 committed by Randy Mackay
parent ee8c92c850
commit b3dd8891c8
2 changed files with 9 additions and 2 deletions
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7
libraries/AP_Mount/AP_Mount_MAVLink.cpp
View File

@ -3,6 +3,8 @@
#include <AP_Mount_MAVLink.h>
#if AP_AHRS_NAVEKF_AVAILABLE
#include <GCS_MAVLink.h>
#include <stdio.h>
#include <AP_Gimbal.h>
#if MOUNT_DEBUG
#include <stdio.h>
@ -10,7 +12,8 @@
AP_Mount_MAVLink::AP_Mount_MAVLink(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
AP_Mount_Backend(frontend, state, instance),
_initialised(false)
_initialised(false),
_gimbal(frontend._ahrs, 1, MAV_COMP_ID_GIMBAL)
{}
// init - performs any required initialisation for this instance
@ -92,6 +95,8 @@ void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan)
*/
void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg)
{
_gimbal._angle_ef_target_rad = _angle_ef_target_rad;
_gimbal.receive_feedback(chan,msg);
}
/*

4
libraries/AP_Mount/AP_Mount_MAVLink.h
View File

@ -17,7 +17,7 @@
#include <GCS_MAVLink.h>
#include <RC_Channel.h>
#include <AP_Mount_Backend.h>
#include <AP_SmallEKF.h>
#include <AP_Gimbal.h>
class AP_Mount_MAVLink : public AP_Mount_Backend
{
@ -50,6 +50,8 @@ public:
private:
// internal variables
bool _initialised; // true once the driver has been initialised
AP_Gimbal _gimbal;
};
#endif // AP_AHRS_NAVEKF_AVAILABLE