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AP_Mount: move mount to a "retracted position" into the fuselage with a fourth servo

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This commit is contained in:
Amilcar Lucas 2012-08-06 01:27:29 +02:00
parent 03b902d4b7
commit fbc25e4baa
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_Mount/AP_Mount.cpp
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@ -226,6 +226,8 @@ void AP_Mount::set_GPS_target_location(Location targetGPSLocation)
/// This one should be called periodically
void AP_Mount::update_mount_position()
{
static bool mount_open = 0; // 0 is closed
switch((enum MAV_MOUNT_MODE)_mount_mode.get())
{
// move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
@ -312,6 +314,15 @@ void AP_Mount::update_mount_position()
break;
}
// move mount to a "retracted position" into the fuselage with a fourth servo
if (g_rc_function[RC_Channel_aux::k_mount_open]){
bool mount_open_new = (enum MAV_MOUNT_MODE)_mount_mode.get()==MAV_MOUNT_MODE_RETRACT?0:1;
if (mount_open != mount_open_new) {
mount_open = mount_open_new;
move_servo(g_rc_function[RC_Channel_aux::k_mount_open], mount_open_new, 0, 1);
}
}
// write the results to the servos
move_servo(g_rc_function[RC_Channel_aux::k_mount_roll], _roll_angle*10, _roll_angle_min*0.1, _roll_angle_max*0.1);
move_servo(g_rc_function[RC_Channel_aux::k_mount_tilt], _tilt_angle*10, _tilt_angle_min*0.1, _tilt_angle_max*0.1);