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AP_Mount: addition of Amilcar's mount_type

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set_roi_cmd modified to take a Location.  I know the intention was for set_roi_cmd to interpret the MAVLink command directly but unfortunately in arduCopter missions are only made up of waypoints (which are Locations).
This commit is contained in:
rmackay9 2012-07-25 11:00:38 +09:00
parent c8e0da0dd1
commit bb05dab924
2 changed files with 42 additions and 3 deletions
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32
libraries/AP_Mount/AP_Mount.cpp
View File

@ -79,11 +79,31 @@ _gps(gps)
_neutral_angles = Vector3f(0,0,0);
_control_angles = Vector3f(0,0,0);
// default mount type to roll/pitch (which is the most common for copter)
_mount_type = k_tilt_roll;
// default manual rc channel to disabled
_manual_rc = NULL;
_manual_rc_function = AP_MOUNT_MANUAL_RC_FUNCTION_DISABLED;
}
// Auto-detect the mount gimbal type depending on the functions assigned to the servos
void AP_Mount::update_mount_type()
{
if ((g_rc_function[RC_Channel_aux::k_mount_roll] == NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
{
_mount_type = k_pan_tilt;
}
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] == NULL))
{
_mount_type = k_tilt_roll;
}
if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pitch] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_yaw] != NULL))
{
_mount_type = k_pan_tilt_roll;
}
}
//sets the servo angles for retraction, note angles are in degrees
void AP_Mount::set_retract_angles(float roll, float pitch, float yaw)
{
@ -279,6 +299,10 @@ void AP_Mount::control_msg(mavlink_message_t *msg)
case MAV_MOUNT_MODE_ENUM_END:
break;
default:
// do nothing
break;
}
}
@ -319,9 +343,13 @@ void AP_Mount::status_msg(mavlink_message_t *msg)
}
// Set mount point/region of interest, triggered by mission script commands
void AP_Mount::set_roi_cmd()
void AP_Mount::set_roi_cmd(struct Location *target_loc)
{
// TODO get the information out of the mission command and use it
// set the target gps location
_target_GPS_location = *target_loc;
// set the mode to GPS tracking mode
set_mode(MAV_MOUNT_MODE_GPS_POINT);
}
// Set mount configuration, triggered by mission script commands

13
libraries/AP_Mount/AP_Mount.h
View File

@ -41,17 +41,27 @@ public:
//Constructor
AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs);
//enums
enum MountType{
k_pan_tilt = 0, ///< yaw-pitch
k_tilt_roll = 1, ///< pitch-roll
k_pan_tilt_roll = 2, ///< yaw-pitch-roll
};
// MAVLink methods
void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg);
void status_msg(mavlink_message_t* msg);
void set_roi_cmd();
void set_roi_cmd(struct Location *target_loc);
void configure_cmd();
void control_cmd();
// should be called periodically
void update_mount_position();
void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
void debug_output(); ///< For testing and development. Called in the medium loop.
// Accessors
enum MountType get_mount_type() { return _mount_type; }
// to allow manual input of an angle from the pilot when RC_Channel_aux cannot be used
void set_manual_rc_channel(RC_Channel *rc); // define which RC_Channel is to be used for manual control
@ -92,6 +102,7 @@ private:
AP_Int8 _stab_yaw; ///< (1 = yes, 0 = no)
AP_Int8 _mount_mode;
MountType _mount_type;
struct Location _target_GPS_location;