/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /* Mount driver backend class. Each supported mount type needs to have an object derived from this class. */ #pragma once #include "AP_Mount.h" #if HAL_MOUNT_ENABLED #include #include class AP_Mount_Backend { public: // Constructor AP_Mount_Backend(AP_Mount &frontend, AP_Mount_Params ¶ms, uint8_t instance) : _frontend(frontend), _params(params), _instance(instance) {} // init - performs any required initialisation for this instance virtual void init(); // update mount position - should be called periodically virtual void update() = 0; // used for gimbals that need to read INS data at full rate virtual void update_fast() {} // return true if healthy virtual bool healthy() const { return true; } // return true if this mount accepts roll or pitch targets virtual bool has_roll_control() const; virtual bool has_pitch_control() const; // returns true if this mount can control its pan (required for multicopters) virtual bool has_pan_control() const = 0; // get attitude as a quaternion. returns true on success. // att_quat will be an earth-frame quaternion rotated such that // yaw is in body-frame. virtual bool get_attitude_quaternion(Quaternion& att_quat) = 0; // get mount's mode enum MAV_MOUNT_MODE get_mode() const { return _mode; } // set mount's mode void set_mode(enum MAV_MOUNT_MODE mode) { _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 set_yaw_lock(bool yaw_lock) { _yaw_lock = yaw_lock; } // set angle target in degrees // yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame void set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame); // sets rate target in deg/s // yaw_lock should be true if the yaw rate is earth-frame, false if body-frame (e.g. rotates with body of vehicle) void set_rate_target(float roll_degs, float pitch_degs, float yaw_degs, bool yaw_is_earth_frame); // set_roi_target - sets target location that mount should attempt to point towards void set_roi_target(const Location &target_loc); // clear_roi_target - clears target location that mount should attempt to point towards void clear_roi_target(); // set_sys_target - sets system that mount should attempt to point towards void set_target_sysid(uint8_t sysid); // handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success MAV_RESULT handle_command_do_mount_control(const mavlink_command_long_t &packet); // handle do_gimbal_manager_configure. Returns MAV_RESULT_ACCEPTED on success // requires original message in order to extract caller's sysid and compid MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_long_t &packet, const mavlink_message_t &msg); // process MOUNT_CONFIGURE messages received from GCS. deprecated. void handle_mount_configure(const mavlink_mount_configure_t &msg); // process MOUNT_CONTROL messages received from GCS. deprecated. void handle_mount_control(const mavlink_mount_control_t &packet); // send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS void send_gimbal_device_attitude_status(mavlink_channel_t chan); // return gimbal capabilities sent to GCS in the GIMBAL_MANAGER_INFORMATION virtual uint32_t get_gimbal_manager_capability_flags() const; // send a GIMBAL_MANAGER_INFORMATION message to GCS void send_gimbal_manager_information(mavlink_channel_t chan); // send a GIMBAL_MANAGER_STATUS message to GCS void send_gimbal_manager_status(mavlink_channel_t chan); // handle a GIMBAL_REPORT message virtual void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) {} // handle a PARAM_VALUE message virtual void handle_param_value(const mavlink_message_t &msg) {} // handle a GLOBAL_POSITION_INT message bool handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet); // handle GIMBAL_DEVICE_INFORMATION message virtual void handle_gimbal_device_information(const mavlink_message_t &msg) {} // handle GIMBAL_DEVICE_ATTITUDE_STATUS message virtual void handle_gimbal_device_attitude_status(const mavlink_message_t &msg) {} // accessors for scripting backends virtual bool get_rate_target(float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame) { return false; } virtual bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame) { return false; } virtual bool get_location_target(Location &target_loc) { return false; } virtual void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) {}; // // camera controls for gimbals that include a camera // // take a picture. returns true on success virtual bool take_picture() { return false; } // start or stop video recording. returns true on success // set start_recording = true to start record, false to stop recording virtual bool record_video(bool start_recording) { return false; } // set zoom specified as a rate or percentage virtual bool set_zoom(ZoomType zoom_type, float zoom_value) { return false; } // set focus specified as rate, percentage or auto // focus in = -1, focus hold = 0, focus out = 1 virtual bool set_focus(FocusType focus_type, float focus_value) { return false; } protected: enum class MountTargetType { ANGLE, RATE, }; // structure for a single angle or rate target struct MountTarget { float roll; float pitch; float yaw; bool yaw_is_ef; }; // returns true if user has configured a valid yaw angle range // allows user to disable yaw even on 3-axis gimbal bool yaw_range_valid() const { return (_params.yaw_angle_min < _params.yaw_angle_max); } // returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal) virtual bool suppress_heartbeat() const { return false; } // get pilot input (in the range -1 to +1) received through RC void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const; // get rate targets (in rad/s) from pilot RC // returns true on success (RC is providing rate targets), false on failure (RC is providing angle targets) bool get_rc_rate_target(MountTarget& rate_rads) const WARN_IF_UNUSED; // get angle targets (in radians) from pilot RC // returns true on success (RC is providing angle targets), false on failure (RC is providing rate targets) bool get_rc_angle_target(MountTarget& angle_rad) const WARN_IF_UNUSED; // get angle targets (in radians) to a Location // returns true on success, false on failure bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED; // get angle targets (in radians) to ROI location // returns true on success, false on failure bool get_angle_target_to_roi(MountTarget& angle_rad) const WARN_IF_UNUSED; // get angle targets (in radians) to home location // returns true on success, false on failure bool get_angle_target_to_home(MountTarget& angle_rad) const WARN_IF_UNUSED; // get angle targets (in radians) to a vehicle with sysid of _target_sysid // returns true on success, false on failure bool get_angle_target_to_sysid(MountTarget& angle_rad) const WARN_IF_UNUSED; // return body-frame yaw angle from a mount target float get_bf_yaw_angle(const MountTarget& angle_rad) const; // return earth-frame yaw angle from a mount target float get_ef_yaw_angle(const MountTarget& angle_rad) const; // update angle targets using a given rate target // the resulting angle_rad yaw frame will match the rate_rad yaw frame // assumes a 50hz update rate void update_angle_target_from_rate(const MountTarget& rate_rad, MountTarget& angle_rad) const; // helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message uint16_t get_gimbal_device_flags() const; // sent warning to GCS void send_warning_to_GCS(const char* warning_str); AP_Mount &_frontend; // reference to the front end which holds parameters AP_Mount_Params &_params; // parameters for this backend uint8_t _instance; // this instance's number MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum) bool _yaw_lock; // True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame // structure for MAVLink Targeting angle and rate targets struct { MountTargetType target_type;// MAVLink targeting mode's current target type (e.g. angle or rate) MountTarget angle_rad; // angle target in radians MountTarget rate_rads; // rate target in rad/s } mavt_target; Location _roi_target; // roi target location bool _roi_target_set; // true if the roi target has been set uint8_t _target_sysid; // sysid to track Location _target_sysid_location;// sysid target location bool _target_sysid_location_set;// true if _target_sysid has been set uint32_t _last_warning_ms; // system time of last warning sent to GCS // structure holding mavlink sysid and compid of controller of this gimbal // see MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE and GIMBAL_MANAGER_STATUS struct { uint8_t sysid; uint8_t compid; } mavlink_control_id; }; #endif // HAL_MOUNT_ENABLED