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AP_Scripting: djirs2 driver supports upsidedown setup

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Randy Mackay 2023-02-20 09:29:50 +09:00 committed by Andrew Tridgell
parent 4918bb4705
commit c80c4adf3e
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_Scripting/drivers/mount-djirs2-driver.lua
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@ -84,8 +84,9 @@ local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTI
-- parameters
local PARAM_TABLE_KEY = 38
assert(param:add_table(PARAM_TABLE_KEY, "DJIR_", 1), "could not add param table")
assert(param:add_table(PARAM_TABLE_KEY, "DJIR_", 2), "could not add param table")
assert(param:add_param(PARAM_TABLE_KEY, 1, "DEBUG", 0), "could not add DJIR_DEBUG param")
assert(param:add_param(PARAM_TABLE_KEY, 2, "UPSIDEDOWN", 0), "could not add DJIR_UPSIDEDOWN param")
-- bind parameters to variables
local CAN_P1_DRIVER = Parameter("CAN_P1_DRIVER") -- If using CAN1, should be 1:First driver
@ -96,6 +97,7 @@ local CAN_P2_BITRATE = Parameter("CAN_P2_BITRATE") -- If using CAN2, should
local CAN_D2_PROTOCOL = Parameter("CAN_D2_PROTOCOL") -- If using CAN2, should be 10:Scripting
local MNT1_TYPE = Parameter("MNT1_TYPE") -- should be 9:Scripting
local DJIR_DEBUG = Parameter("DJIR_DEBUG") -- debug level. 0:disabled 1:enabled 2:enabled with attitude reporting
local DJIR_UPSIDEDOWN = Parameter("DJIR_UPSIDEDOWN") -- 0:rightsideup, 1:upsidedown
-- message definitions
local HEADER = 0xAA
@ -438,6 +440,11 @@ function send_target_angles(roll_angle_deg, pitch_angle_deg, yaw_angle_deg, time
yaw_angle_deg = yaw_angle_deg or 0
time_sec = time_sec or 2
-- if upsidedown, add 180deg to yaw
if DJIR_UPSIDEDOWN:get() > 0 then
yaw_angle_deg = wrap_180(yaw_angle_deg + 180)
end
-- ensure angles are integers
roll_angle_deg = -math.floor(roll_angle_deg + 0.5)
pitch_angle_deg = math.floor(pitch_angle_deg + 0.5)