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AP_Mount: add set_yaw_lock

This commit is contained in:
Randy Mackay 2022-06-01 13:39:32 +09:00
parent 589102b7d7
commit f157e5a073
2 changed files with 19 additions and 0 deletions
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13
libraries/AP_Mount/AP_Mount.cpp
View File

@ -558,6 +558,19 @@ void AP_Mount::set_mode(uint8_t instance, enum MAV_MOUNT_MODE mode)
_backends[instance]->set_mode(mode);
}
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void AP_Mount::set_yaw_lock(uint8_t instance, bool yaw_lock)
{
// sanity check instance
if (!check_instance(instance)) {
return;
}
// return immediately if no change
state[instance]._yaw_lock = yaw_lock;
}
// set_angle_targets - sets angle targets in degrees
void AP_Mount::set_angle_targets(uint8_t instance, float roll, float tilt, float pan)
{

6
libraries/AP_Mount/AP_Mount.h
View File

@ -115,6 +115,11 @@ public:
void set_mode_to_default() { set_mode_to_default(_primary); }
void set_mode_to_default(uint8_t instance);
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void set_yaw_lock(bool yaw_lock) { set_yaw_lock(_primary, yaw_lock); }
void set_yaw_lock(uint8_t instance, bool yaw_lock);
// set_angle_targets - sets angle targets in degrees
void set_angle_targets(float roll, float tilt, float pan) { set_angle_targets(_primary, roll, tilt, pan); }
void set_angle_targets(uint8_t instance, float roll, float tilt, float pan);
@ -179,6 +184,7 @@ protected:
AP_Float _pitch_stb_lead; // pitch lead control gain
MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
bool _yaw_lock; // If true the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame
struct Location _roi_target; // roi target location
bool _roi_target_set;