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138 Commits

Author SHA1 Message Date
Randy Mackay 2189b16165 Mount_SToRM: remove message throttling 
recent versions of gimbal firmware can handle 50hz update rate
 2015-03-21 05:56:18 +09:00
Randy Mackay b3362d5829 Mount: calc_angle_to_location returns vehicle relative yaw 2015-03-21 05:56:16 +09:00
Randy Mackay d2739c5ce5 Mount_SToRM: slow updates to 10hz, reverse yaw, pitch 2015-03-20 20:46:45 +09:00
Paul Riseborough 9c2f1ce869 AP_Mount: Fix bug in mavlink gimbal attitude control 2015-03-16 09:54:43 +11:00
Jonathan Challinger dff899647f AP_Mount: use AP_AHRS_TYPE instead of AP_AHRS_MOUNT 2015-03-16 09:14:03 +11:00
Jonathan Challinger 7b0e806db1 AP_Mount: correct status_msg to conform to MAVLink specification 2015-02-21 08:33:50 +09:00
Randy Mackay 73e00108e4 Mount: SToRM32 remove unnecessary include 2015-02-20 11:27:15 +09:00
Randy Mackay 23f0bab5d6 Mount: integrate SToRM32 backend 2015-02-20 11:05:40 +09:00
Randy Mackay 92c7949355 Mount: SToRM32 mount backend 2015-02-20 11:05:31 +09:00
Andrew Tridgell 50a11c7d5a AP_Mount: added an alternative tilt-only gimbal control method 
this adds some nice control characteristics based on work by Paul and
Arthur, but is tilt only
 2015-02-16 16:48:55 +11:00
Andrew Tridgell 2f3b5006e7 AP_Mount: fixed build of example sketches 2015-02-09 11:49:10 +11:00
Andrew Tridgell fa7c584733 AP_Mount: fixed build on non-EKF systems 2015-02-03 09:49:17 +11:00
Andrew Tridgell f77f919588 AP_Mount: enable pan pointing in MAVLink backend 2015-02-03 09:49:17 +11:00
Andrew Tridgell 81f60bde06 AP_Mount: fill in all Location flags in ROI pointing 2015-02-03 09:49:17 +11:00
Andrew Tridgell cf76dcfbf3 AP_Mount: fixed mount MAVLink backend to match SITL sim behaviour 
Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2015-02-03 09:49:17 +11:00
Andrew Tridgell 75b1330843 AP_Mount: fixed radians to degrees error 2015-02-03 09:49:17 +11:00
Andrew Tridgell 032dcc3660 AP_Mount: fixed references to state in backends 2015-02-03 09:49:17 +11:00
Paul Riseborough 8d6f0d08c9 AP_Mount: Update attitude control calculations and debug printing 2015-02-03 09:49:17 +11:00
Paul Riseborough 1660aefc90 AP_Mount: Add a simple attitude control loop to the gimbal report handling 2015-02-03 09:49:16 +11:00
Andrew Tridgell 79017096e2 AP_Mount: prototype code to send biases 2015-02-03 09:49:16 +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
Andrew Tridgell 79cad28a25 AP_Mount: simplify some uses of frontend 2015-01-29 17:23:33 +11:00
Andrew Tridgell 60f266da19 AP_Mount: update for new find_serial() interface 2015-01-29 15:36:38 +11:00
Matthias Badaire 5f432eaa2d AP_Mount_Alexmos : take into account available negative numbers 
uartdriver->available () function brings back a signed int, we should be carefull to avoid an endless loop if that happens.
 2015-01-29 14:05:15 +11:00
Randy Mackay 4a4387530a Mount: remove unused num_instances 2015-01-29 14:05:14 +11:00
Randy Mackay d6433266d2 Mount_MAVLink: use SerialManager for init 
use serial_manager's get_mavlink_channel
 2015-01-29 14:05:14 +11:00
Randy Mackay 4848b03ac6 Mount_AlexMos: use SerialManager for init 2015-01-29 14:05:14 +11:00
Randy Mackay 56f872b38c Mount_Servo: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay 886cc9aa46 Mount: use SerialManager for init 2015-01-29 14:05:13 +11:00
Randy Mackay ee369f8a0d Mount_AlexMos: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay b083c99966 Mount_MAVLink: use reference to state 2015-01-29 14:05:11 +11:00
Randy Mackay 32ea258594 Mount_Servo: use reference to state 2015-01-29 14:05:10 +11:00
Randy Mackay acbcf3c54e Mount: backends use reference to their state 2015-01-29 14:05:10 +11:00
Randy Mackay bf82e82282 Mount_MAVLink: remove unused _enable and find_mount 2015-01-29 14:05:10 +11:00
Randy Mackay b5127b680f Mount: set primary to first instance 2015-01-29 14:05:10 +11:00
Matthias Badaire 24af65a41a AP_Mount_Alexmos: critical fix to avoid endless loop if byte arrive to fast in serial buffer 
This fix reads the number of bytes available and iterates on it instead of looking for new bytes in the serial buffer (potentially forever)
 2015-01-29 14:05:10 +11:00
Matthias Badaire 46e92f99fe AP_Mount_Alexmos: use struct for CMD_CONTROL command 
new struct created in header and used in control_axis function
 2015-01-29 14:05:09 +11:00
Matthias Badaire 81d60af4a8 AP_Mount_Alexmos : cleanup initialization of class fields 2015-01-29 14:05:09 +11:00
Randy Mackay c5ef5d21d3 Mount: add Alexmos to MNT2_TYPE param description 2015-01-29 14:05:09 +11:00
Randy Mackay 93323e2136 Mount_Alexmos: comments and formatting 
No functional change
 2015-01-29 14:05:09 +11:00
Matthias Badaire 1e5ddf3ce7 AP_Mount_Alexmos : make sure get_angles is called to get the real angles from the gimbal 
get_angles calls the Alexmos API to get the current angles. It was not being called before.
 2015-01-29 14:05:09 +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 cdeb1fb8f3 AP_Mount_Alexmos : changes some define to avoid conflicting 
change SPEED to AP_MOUNT_ALEXMOS_SPEED and the control mode defines as well
 2015-01-29 14:05:08 +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
Matthias Badaire dfc086f9e9 AP_Mount_Alexmos : Add Alexmos Serial support for 8bit cards 
This is the initial implementation of Alemox gimbal protocol. the uart output is for the moment hard coded but should become a parameter.
 2015-01-29 14:05:08 +11:00
Randy Mackay 66ad56161b Mount_MAVLink: fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay f509dad991 Mount_Servo: bug fix to calc_angle_to_location params 2015-01-29 14:05:08 +11:00
Randy Mackay a78309734d Mount_MAVLink: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00
Randy Mackay 99c35d5cf7 Mount_Servo: remove set_roi_target, configure 
These methods are now in the backend
 2015-01-29 14:05:07 +11:00