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54 Commits

Author SHA1 Message Date
Jonathan Challinger 5b834330cb AP_Mount: merge SoloGimbal from solo master 2016-01-23 10:35:40 +09:00
Lucas De Marchi ad094b9073 AP_Mount: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:12 +11:00
Randy Mackay fa0aa6f5c9 Mount: remove support for do-mount-configure as command long 
Also fix bug in do-mount-control so that do-mount-control can switch mount into retract mode

Also removes ability to set which axis are stabilized through
ardupilotmega mount_configure message
 2015-09-06 16:01:18 +09:00
squilter cc58ec917c Mount: add support for do_mount_control via command_long 2015-09-06 16:01:12 +09:00
Lucas De Marchi 2011c4d988 AP_HAL_Mount: standardize inclusion of libaries headers 
Do the missing header changes due to changing the code before the pr
getting accepted.
 2015-08-18 17:12:52 +10:00
Gustavo Jose de Sousa 8011579c5a AP_Mount: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:20 +10:00
Randy Mackay 72eb25b166 Mount: add SToRM32 serial to front end 2015-05-26 21:05:24 +09:00
Arthur Benemann 4bdf909bbf AP_Mount: Create new copter parameters to hold gimbal settings 2015-04-21 21:45:43 +09:00
Randy Mackay 8a3a7bdcd1 Mount: add set_angle_target method 2015-03-21 21:52:22 +09:00
Jonathan Challinger dff899647f AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT 2015-03-16 09:14:03 +11:00
Randy Mackay 23f0bab5d6 Mount: integrate SToRM32 backend 2015-02-20 11:05:40 +09:00
Andrew Tridgell 2f3b5006e7 AP_Mount: fixed build of example sketches 2015-02-09 11:49:10 +11:00
Andrew Tridgell da27a8696d AP_Mount: added initial ekf estimation of gimbal bias 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:16 +11:00
Andrew Tridgell 01b264951a AP_Mount: added handling of GIMBAL_REPORT messages 2015-02-03 09:49:15 +11:00
Randy Mackay 4a4387530a Mount: remove unused num_instances 2015-01-29 14:05:14 +11:00
Randy Mackay 886cc9aa46 Mount: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay acbcf3c54e Mount: backends use reference to their state 2015-01-29 14:05:10 +11:00
Matthias Badaire 0b88f15a37 AP_Mount: fix Backend enum for AP_Mount_Alexmos and add comments 
fix Backend enum for AP_Mount_Alexmos and add comments
 2015-01-29 14:05:09 +11:00
Matthias Badaire 6e5e438b0f AP_Mount: Make use of the new AP_Mount_Alexmos backend 
This is adding AP_Mount_Alexmos as one of the available backend
 2015-01-29 14:05:08 +11:00
Randy Mackay ef719b145b Mount: rename MODE to DFLT_MODE, move set_mode to backend 2015-01-29 13:57:17 +11:00
Randy Mackay 88db50c3a7 Mount: parent class becomes front-end 2015-01-29 13:57:17 +11:00
Arthur Benemann f7f9bedc38 AP_Mount: update the status_msg() method to match the new definition 2014-11-17 15:59:23 -08:00
Jason Short 7ee5b58535 AP_Mount: Axis mask speedup 
Using a simple bit mask to avoid calculating an unneeded ATAN2() for AVR users.
 2014-11-14 13:51:16 +11:00
Jonathan Challinger d03ed7a2c3 AP_Mount: Added lead filter 2014-11-06 07:35:32 +11:00
Randy Mackay 039f4740ce Mount: correct comment on set_mode_to_default time 2014-08-14 11:27:34 +09:00
svefro be9bfc5530 Mount: set_mode method made public 2014-07-10 13:03:43 +09:00
Michael Oborne 30a3927ea8 AP_Mount: fix where status_msg() is sent 
send to the channel where the trigger msg was sent from
 2014-06-18 12:03:18 +10:00
Andrew Tridgell eb67948171 AP_Mount: convert to new GPS API 2014-04-01 06:38:24 +11:00
Randy Mackay 1c457d8448 Mount: add get_mode and set_mode_to_default methods 2014-03-05 16:01:11 +09:00
Andrew Tridgell 4de2a654ab AP_Mount: changed ahrs to be a const reference 
saves a bit of code
 2013-10-13 11:03:24 +09:00
Andrew Tridgell 1cc02836a0 AP_Mount: fixed indent-tabs-mode 2013-05-30 09:51:24 +10:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Pat Hickey 6cc231ae7d AP_Mount: ported to AP_HAL 
I do not have the hardware required to test this
 2012-12-20 14:51:29 +11:00
Andrew Tridgell f41270a3ce AP_Mount: updated for new RC_Channel_aux API 2012-09-08 15:12:52 +10:00
Amilcar Lucas 7a0c47d049 Improve comment aligment 2012-08-27 00:37:10 +02:00
uncrustify 7ffa44c324 uncrustify libraries/AP_Mount/AP_Mount.h 2012-08-21 19:04:08 -07:00
Amilcar Lucas 0b0b9c29a2 Allow fully independent operation of two AP_Mount instances 2012-08-08 23:11:23 +02:00
Amilcar Lucas 530ea0bebd AP_Mount: Enable Joystick speed code, now that the framework supports more than 16 parameters per group. 
Save some bytes by skiping the redundant *_rc_in initialization in the AP_Mount() constructor
 2012-08-08 22:45:36 +02:00
Amilcar Lucas 107155fa1a AP_Mount: Allow using any RC channel to control any of the mount axes. 
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
 2012-08-05 23:48:57 +02:00
rmackay9 bb05dab924 AP_Mount: addition of Amilcar's mount_type 
set_roi_cmd modified to take a Location.  I know the intention was for set_roi_cmd to interpret the MAVLink command directly but unfortunately in arduCopter missions are only made up of waypoints (which are Locations).
 2012-07-25 11:00:38 +09:00
rmackay9 e61cf0e1f9 AP_Mount: added set_manual_rc_channel and set_manual_rc_channel_function to allow input of pitch, roll and yaw controls from a regular RC_Channel (i.e. not RC_Channel_aux) 
For now, angles red in are always of the range -45 deg ~ 45 deg which is consistent with the existing arducopter implementation but should be improved to scale the pilot's input to the mount's actual range.
 2012-07-18 23:20:05 +09:00
Amilcar Lucas 46d20c2d6b Remove unused function, remove unnecessary angle wrapping. 2012-07-11 00:06:45 +02:00
Amilcar Lucas 46552b4222 AP_Mount: Fix radians/degrees scaling regressions 
Rename calculate() into stabilize()
Implement MAV_MOUNT_MODE_RC_TARGETING initialization
Document to make sure this radians/degrees mess up does not happen again
 2012-07-07 21:56:56 +02:00
Andrew Tridgell 060cbe2030 AP_Mount: removed unused enum 2012-07-03 10:39:34 +10:00
Andrew Tridgell 99b11e4f19 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Amilcar Lucas f4e9587aca Move local temp variables to the stack it saves 1952 bytes 
Add function comments
Only use _ on class member variables
Only point to a 3D GPS point if GPS has a fix
Implement MAV_MOUNT_MODE_MAVLINK_TARGETING
 2012-06-17 22:25:51 +02:00
Amilcar Lucas a32b7c200b Add "3 axis camera stabilization" and "point camera to 3D point" functionality 
Patch by Gregory Fletcher and reviewed by me
 2012-06-13 20:55:19 +02:00
Andrew Tridgell 8ae0ea7e37 AP_Mount: adapt library for AHRS framework 2012-03-19 17:29:02 +11:00
rmackay9 952e5d7bbc AP_Mount - #include FastSerial first to allow it to compile under Arduino 1.0 2012-02-26 15:31:56 +09:00
Amilcar Lucas ab730ff919 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00