// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /* 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 #include "AP_Mount.h" class AP_Mount_Backend { public: // Constructor AP_Mount_Backend(AP_Mount &frontend, AP_Mount::mount_state& state, uint8_t instance) : _frontend(frontend), _state(state), _instance(instance) {} // Virtual destructor virtual ~AP_Mount_Backend(void) {} // init - performs any required initialisation for this instance virtual void init(const AP_SerialManager& serial_manager) = 0; // 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() {} // has_pan_control - returns true if this mount can control it's pan (required for multicopters) virtual bool has_pan_control() const = 0; // set_mode - sets mount's mode virtual void set_mode(enum MAV_MOUNT_MODE mode) = 0; // set_angle_targets - sets angle targets in degrees virtual void set_angle_targets(float roll, float tilt, float pan); // set_roi_target - sets target location that mount should attempt to point towards virtual void set_roi_target(const struct Location &target_loc); // control - control the mount virtual void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode); // configure_msg - process MOUNT_CONFIGURE messages received from GCS virtual void configure_msg(mavlink_message_t* msg); // control_msg - process MOUNT_CONTROL messages received from GCS virtual void control_msg(mavlink_message_t* msg); // status_msg - called to allow mounts to send their status to GCS via MAVLink virtual void status_msg(mavlink_channel_t chan) {}; // handle a GIMBAL_REPORT message virtual void handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg) {} // handle a PARAM_VALUE message virtual void handle_param_value(mavlink_message_t *msg) {} // send a GIMBAL_REPORT message to the GCS virtual void send_gimbal_report(mavlink_channel_t chan) {} protected: // update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver void update_targets_from_rc(); // angle_input, angle_input_rad - convert RC input into an earth-frame target angle int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max); float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max); // calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target void calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan); // get the mount mode from frontend MAV_MOUNT_MODE get_mode(void) const { return _frontend.get_mode(_instance); } AP_Mount &_frontend; // reference to the front end which holds parameters AP_Mount::mount_state &_state; // refernce to the parameters and state for this backend uint8_t _instance; // this instance's number Vector3f _angle_ef_target_rad; // desired earth-frame roll, tilt and vehicle-relative pan angles in radians };