/************************************************************ * AP_mount -- library to control a 2 or 3 axis mount. * * * * Author: Joe Holdsworth; * * Ritchie Wilson; * * Amilcar Lucas; * * Gregory Fletcher; * * heavily modified by Randy Mackay * * * * Purpose: Move a 2 or 3 axis mount attached to vehicle, * * Used for mount to track targets or stabilise * * camera plus other modes. * * * * Usage: Use in main code to control mounts attached to * * vehicle. * * * * Comments: All angles in degrees * 100, distances in meters* * unless otherwise stated. * ************************************************************/ #pragma once #include #ifndef HAL_MOUNT_ENABLED #define HAL_MOUNT_ENABLED !HAL_MINIMIZE_FEATURES #endif #ifndef HAL_SOLO_GIMBAL_ENABLED #define HAL_SOLO_GIMBAL_ENABLED 0 #endif #if HAL_MOUNT_ENABLED #include #include #include #include // maximum number of mounts #define AP_MOUNT_MAX_INSTANCES 1 // declare backend classes class AP_Mount_Backend; class AP_Mount_Servo; class AP_Mount_SoloGimbal; class AP_Mount_Alexmos; class AP_Mount_SToRM32; class AP_Mount_SToRM32_serial; class AP_Mount_Gremsy; /* This is a workaround to allow the MAVLink backend access to the SmallEKF. It would be nice to find a neater solution to this */ class AP_Mount { // declare backends as friends friend class AP_Mount_Backend; friend class AP_Mount_Servo; friend class AP_Mount_SoloGimbal; friend class AP_Mount_Alexmos; friend class AP_Mount_SToRM32; friend class AP_Mount_SToRM32_serial; friend class AP_Mount_Gremsy; public: AP_Mount(); /* Do not allow copies */ AP_Mount(const AP_Mount &other) = delete; AP_Mount &operator=(const AP_Mount&) = delete; // get singleton instance static AP_Mount *get_singleton() { return _singleton; } // Enums enum MountType { Mount_Type_None = 0, /// no mount Mount_Type_Servo = 1, /// servo controlled mount Mount_Type_SoloGimbal = 2, /// Solo's gimbal Mount_Type_Alexmos = 3, /// Alexmos mount Mount_Type_SToRM32 = 4, /// SToRM32 mount using MAVLink protocol Mount_Type_SToRM32_serial = 5, /// SToRM32 mount using custom serial protocol Mount_Type_Gremsy = 6 /// Gremsy gimbal using MAVLink v2 Gimbal protocol }; // init - detect and initialise all mounts void init(); // update - give mount opportunity to update servos. should be called at 10hz or higher void update(); // used for gimbals that need to read INS data at full rate void update_fast(); // get_mount_type - returns the type of mount AP_Mount::MountType get_mount_type() const { return get_mount_type(_primary); } AP_Mount::MountType get_mount_type(uint8_t instance) const; // has_pan_control - returns true if the mount has yaw control (required for copters) bool has_pan_control() const { return has_pan_control(_primary); } bool has_pan_control(uint8_t instance) const; // get_mode - returns current mode of mount (i.e. Retracted, Neutral, RC_Targeting, GPS Point) enum MAV_MOUNT_MODE get_mode() const { return get_mode(_primary); } enum MAV_MOUNT_MODE get_mode(uint8_t instance) const; // set_mode - sets mount's mode // returns true if mode is successfully set void set_mode(enum MAV_MOUNT_MODE mode) { return set_mode(_primary, mode); } void set_mode(uint8_t instance, enum MAV_MOUNT_MODE mode); // set_mode_to_default - restores the mode to it's default mode held in the MNT_DEFLT_MODE parameter // this operation requires 60us on a Pixhawk/PX4 void set_mode_to_default() { set_mode_to_default(_primary); } void set_mode_to_default(uint8_t instance); // 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) { set_yaw_lock(_primary, yaw_lock); } void set_yaw_lock(uint8_t instance, bool 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) { set_angle_target(_primary, roll_deg, pitch_deg, yaw_deg, yaw_is_earth_frame); } void set_angle_target(uint8_t instance, 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_lock) { set_rate_target(_primary, roll_degs, pitch_degs, yaw_degs, yaw_lock); } void set_rate_target(uint8_t instance, float roll_degs, float pitch_degs, float yaw_degs, bool yaw_lock); // set_roi_target - sets target location that mount should attempt to point towards void set_roi_target(const Location &target_loc) { set_roi_target(_primary,target_loc); } void set_roi_target(uint8_t instance, const Location &target_loc); // point at system ID sysid void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); } void set_target_sysid(uint8_t instance, uint8_t sysid); // mavlink message handling: MAV_RESULT handle_command_long(const mavlink_command_long_t &packet); void handle_param_value(const mavlink_message_t &msg); void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg); // send a MOUNT_STATUS message to GCS: void send_mount_status(mavlink_channel_t chan); // run pre-arm check. returns false on failure and fills in failure_msg // any failure_msg returned will not include a prefix bool pre_arm_checks(char *failure_msg, uint8_t failure_msg_len); // parameter var table static const struct AP_Param::GroupInfo var_info[]; protected: static AP_Mount *_singleton; // frontend parameters AP_Int16 _rc_rate_max; // Pilot rate control's maximum rate. Set to zero to use angle control // front end members uint8_t _num_instances; // number of mounts instantiated uint8_t _primary; // primary mount AP_Mount_Backend *_backends[AP_MOUNT_MAX_INSTANCES]; // pointers to instantiated mounts // backend state including parameters struct mount_state { // Parameters AP_Int8 _type; // mount type (None, Servo or MAVLink, see MountType enum) AP_Int8 _default_mode; // default mode on startup and when control is returned from autopilot AP_Int8 _stab_roll; // 1 = mount should stabilize earth-frame roll axis, 0 = no stabilization AP_Int8 _stab_tilt; // 1 = mount should stabilize earth-frame pitch axis AP_Int8 _stab_pan; // 1 = mount should stabilize earth-frame yaw axis // RC input channels from receiver used for direct angular input from pilot AP_Int8 _roll_rc_in; // pilot provides roll input on this channel AP_Int8 _tilt_rc_in; // pilot provides tilt input on this channel AP_Int8 _pan_rc_in; // pilot provides pan input on this channel // Mount's physical limits AP_Int16 _roll_angle_min; // min roll in 0.01 degree units AP_Int16 _roll_angle_max; // max roll in 0.01 degree units AP_Int16 _tilt_angle_min; // min tilt in 0.01 degree units AP_Int16 _tilt_angle_max; // max tilt in 0.01 degree units AP_Int16 _pan_angle_min; // min pan in 0.01 degree units AP_Int16 _pan_angle_max; // max pan in 0.01 degree units AP_Vector3f _retract_angles; // retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Vector3f _neutral_angles; // neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan AP_Float _roll_stb_lead; // roll lead control gain AP_Float _pitch_stb_lead; // pitch lead control gain } state[AP_MOUNT_MAX_INSTANCES]; private: // Check if instance backend is ok bool check_primary() const; bool check_instance(uint8_t instance) const; void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg); void handle_mount_configure(const mavlink_message_t &msg); void handle_mount_control(const mavlink_message_t &msg); MAV_RESULT handle_command_do_mount_configure(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_mount_control(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_gimbal_manager_pitchyaw(const mavlink_command_long_t &packet); void handle_global_position_int(const mavlink_message_t &msg); void handle_gimbal_device_information(const mavlink_message_t &msg); void handle_gimbal_device_attitude_status(const mavlink_message_t &msg); // perform any required parameter conversion void convert_params(); }; namespace AP { AP_Mount *mount(); }; #endif // HAL_MOUNT_ENABLED