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AP_Mount: make get_attitude_euler non-virtual

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If a backend ever needs to override this method then we can make it virtual, in the meantime we can save flash by re-using the quaternion getter in the frontend
This commit is contained in:
Peter Barker 2023-02-15 17:50:34 +11:00 committed by Peter Barker
parent 0797cdf6fe
commit d6b5dc206e
3 changed files with 14 additions and 26 deletions
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14
libraries/AP_Mount/AP_Mount.cpp
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@ -404,8 +404,18 @@ bool AP_Mount::get_attitude_euler(uint8_t instance, float& roll_deg, float& pitc
return false;
}
// send command to backend
return _backends[instance]->get_attitude_euler(roll_deg, pitch_deg, yaw_bf_deg);
// re-use get_attitude_quaternion and convert to Euler angles
Quaternion att_quat;
if (!_backends[instance]->get_attitude_quaternion(att_quat)) {
return false;
}
float roll_rad, pitch_rad, yaw_rad;
att_quat.to_euler(roll_rad, pitch_rad, yaw_rad);
roll_deg = degrees(roll_rad);
pitch_deg = degrees(pitch_rad);
yaw_bf_deg = degrees(yaw_rad);
return true;
}
// run pre-arm check. returns false on failure and fills in failure_msg

18
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -7,24 +7,6 @@ extern const AP_HAL::HAL& hal;
#define AP_MOUNT_UPDATE_DT 0.02 // update rate in seconds. update() should be called at this rate
// get mount's current attitude in euler angles in degrees. yaw angle is in body-frame
// returns true on success
bool AP_Mount_Backend::get_attitude_euler(float& roll_deg, float& pitch_deg, float& yaw_bf_deg)
{
// by default re-use get_attitude_quaternion and convert to Euler angles
Quaternion att_quat;
if (!get_attitude_quaternion(att_quat)) {
return false;
}
float roll_rad, pitch_rad, yaw_rad;
att_quat.to_euler(roll_rad, pitch_rad, yaw_rad);
roll_deg = degrees(roll_rad);
pitch_deg = degrees(pitch_rad);
yaw_bf_deg = degrees(yaw_rad);
return true;
}
// set angle target in degrees
// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
void AP_Mount_Backend::set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame)

8
libraries/AP_Mount/AP_Mount_Backend.h
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@ -49,9 +49,8 @@ public:
// returns true if this mount can control its pan (required for multicopters)
virtual bool has_pan_control() const = 0;
// get mount's current attitude in euler angles in degrees. yaw angle is in body-frame
// returns true on success
bool get_attitude_euler(float& roll_deg, float& pitch_deg, float& yaw_bf_deg);
// get attitude as a quaternion. returns true on success
virtual bool get_attitude_quaternion(Quaternion& att_quat) = 0;
// get mount's mode
enum MAV_MOUNT_MODE get_mode() const { return _mode; }
@ -155,9 +154,6 @@ protected:
// returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal)
virtual bool suppress_heartbeat() const { return false; }
// get attitude as a quaternion. returns true on success
virtual bool get_attitude_quaternion(Quaternion& att_quat) = 0;
// get pilot input (in the range -1 to +1) received through RC
void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;