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AP_Mount: Add parameter to control relative pan option for servo mounts

This commit is contained in:
Hugo Trippaers 2021-01-25 09:39:51 +01:00 committed by Andrew Tridgell
parent a235246628
commit bcee4b7b82
3 changed files with 18 additions and 4 deletions
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14
libraries/AP_Mount/AP_Mount.cpp
View File

@ -213,7 +213,12 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// 23 formerly _K_RATE
// 24 is AVAILABLE
// @Param: _REL_PAN
// @DisplayName: Relative pan flag for Servo Mount
// @Description: Enable to calculate pan angle to GPS location relative to vehicle orientation (for type servo (1))
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("_REL_PAN", 24, AP_Mount, state[0]._rel_pan, 0),
#if AP_MOUNT_MAX_INSTANCES > 1
// @Param: 2_DEFLT_MODE
@ -395,6 +400,13 @@ const AP_Param::GroupInfo AP_Mount::var_info[] = {
// @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial
// @User: Standard
AP_GROUPINFO("2_TYPE", 42, AP_Mount, state[1]._type, 0),
// @Param: 2_REL_PAN
// @DisplayName: Relative pan flag for Servo Mount 2
// @Description: Enable to calculate pan angle to GPS location relative to vehicle orientation (for type servo (1))
// @Values: 0:Disabled,1:Enabled
// @User: Standard
AP_GROUPINFO("2_REL_PAN", 43, AP_Mount, state[0]._rel_pan, 0),
#endif // AP_MOUNT_MAX_INSTANCES > 1
AP_GROUPEND

2
libraries/AP_Mount/AP_Mount.h
View File

@ -190,6 +190,8 @@ protected:
Location _target_sysid_location; // sysid target location
bool _target_sysid_location_set;
AP_Int8 _rel_pan; // Use relative pan for servo mounts (0=Disable, 1=Enable)
} state[AP_MOUNT_MAX_INSTANCES];
private:

6
libraries/AP_Mount/AP_Mount_Servo.cpp
View File

@ -70,7 +70,7 @@ void AP_Mount_Servo::update()
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
{
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, false)) {
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, _state._rel_pan)) {
stabilize();
}
break;
@ -83,7 +83,7 @@ void AP_Mount_Servo::update()
}
_state._roi_target = AP::ahrs().get_home();
_state._roi_target_set = true;
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, false)) {
if (calc_angle_to_roi_target(_angle_ef_target_rad, _flags.tilt_control, _flags.pan_control, _state._rel_pan)) {
stabilize();
}
break;
@ -92,7 +92,7 @@ void AP_Mount_Servo::update()
if (calc_angle_to_sysid_target(_angle_ef_target_rad,
_flags.tilt_control,
_flags.pan_control,
false)) {
_state._rel_pan)) {
stabilize();
}
break;