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AP_Mount: backend calc_angle_to_xxx requires relative_pan argument

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This commit is contained in:
Randy Mackay 2022-06-17 15:55:38 +09:00
parent 3711c362ce
commit f426711177
2 changed files with 6 additions and 26 deletions
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16
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -166,10 +166,7 @@ float AP_Mount_Backend::angle_input_rad(const RC_Channel* rc, int16_t angle_min,
return radians(((rc->norm_input_ignore_trim() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f); return radians(((rc->norm_input_ignore_trim() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f);
} }
bool AP_Mount_Backend::calc_angle_to_roi_target(Vector3f& angles_to_target_rad, bool AP_Mount_Backend::calc_angle_to_roi_target(Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const
bool calc_tilt,
bool calc_pan,
bool relative_pan) const
{ {
if (!_state._roi_target_set) { if (!_state._roi_target_set) {
return false; return false;
@ -177,10 +174,7 @@ bool AP_Mount_Backend::calc_angle_to_roi_target(Vector3f& angles_to_target_rad,
return calc_angle_to_location(_state._roi_target, angles_to_target_rad, calc_tilt, calc_pan, relative_pan); return calc_angle_to_location(_state._roi_target, angles_to_target_rad, calc_tilt, calc_pan, relative_pan);
} }
bool AP_Mount_Backend::calc_angle_to_sysid_target(Vector3f& angles_to_target_rad, bool AP_Mount_Backend::calc_angle_to_sysid_target(Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const
bool calc_tilt,
bool calc_pan,
bool relative_pan) const
{ {
if (!_state._target_sysid_location_set) { if (!_state._target_sysid_location_set) {
return false; return false;
@ -188,11 +182,7 @@ bool AP_Mount_Backend::calc_angle_to_sysid_target(Vector3f& angles_to_target_rad
if (!_state._target_sysid) { if (!_state._target_sysid) {
return false; return false;
} }
return calc_angle_to_location(_state._target_sysid_location, return calc_angle_to_location(_state._target_sysid_location, angles_to_target_rad, calc_tilt, calc_pan, relative_pan);
angles_to_target_rad,
calc_tilt,
calc_pan,
relative_pan);
} }
// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (in radians) to point at the given target // calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (in radians) to point at the given target

16
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -98,27 +98,17 @@ protected:
// calc_angle_to_location - calculates the earth-frame roll, tilt // calc_angle_to_location - calculates the earth-frame roll, tilt
// and pan angles (in radians) to point at the given target // and pan angles (in radians) to point at the given target
bool calc_angle_to_location(const struct Location &target, bool calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const WARN_IF_UNUSED;
Vector3f& angles_to_target_rad,
bool calc_tilt,
bool calc_pan,
bool relative_pan = true) const WARN_IF_UNUSED;
// calc_angle_to_roi_target - calculates the earth-frame roll, tilt // calc_angle_to_roi_target - calculates the earth-frame roll, tilt
// and pan angles (in radians) to point at the ROI-target (as set // and pan angles (in radians) to point at the ROI-target (as set
// by various mavlink messages) // by various mavlink messages)
bool calc_angle_to_roi_target(Vector3f& angles_to_target_rad, bool calc_angle_to_roi_target(Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const WARN_IF_UNUSED;
bool calc_tilt,
bool calc_pan,
bool relative_pan = true) const WARN_IF_UNUSED;
// calc_angle_to_sysid_target - calculates the earth-frame roll, tilt // calc_angle_to_sysid_target - calculates the earth-frame roll, tilt
// and pan angles (in radians) to point at the sysid-target (as set // and pan angles (in radians) to point at the sysid-target (as set
// by various mavlink messages) // by various mavlink messages)
bool calc_angle_to_sysid_target(Vector3f& angles_to_target_rad, bool calc_angle_to_sysid_target(Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan) const WARN_IF_UNUSED;
bool calc_tilt,
bool calc_pan,
bool relative_pan = true) const WARN_IF_UNUSED;
// get the mount mode from frontend // get the mount mode from frontend
MAV_MOUNT_MODE get_mode(void) const { return _frontend.get_mode(_instance); } MAV_MOUNT_MODE get_mode(void) const { return _frontend.get_mode(_instance); }