#include "AP_Mount_Viewpro.h" #if HAL_MOUNT_VIEWPRO_ENABLED #include #include #include #include #include #include extern const AP_HAL::HAL& hal; #define AP_MOUNT_VIEWPRO_HEADER1 0x55 // first header byte #define AP_MOUNT_VIEWPRO_HEADER2 0xAA // second header byte #define AP_MOUNT_VIEWPRO_HEADER3 0xDC // third header byte #define AP_MOUNT_VIEWPRO_PACKETLEN_MIN 5 // min number of bytes in a packet (3 header bytes, length, crc) #define AP_MOUNT_VIEWPRO_DATALEN_MAX (AP_MOUNT_VIEWPRO_PACKETLEN_MAX-AP_MOUNT_VIEWPRO_PACKETLEN_MIN) // max bytes for data portion of packet #define AP_MOUNT_VIEWPRO_HEALTH_TIMEOUT_MS 1000 // state will become unhealthy if no attitude is received within this timeout #define AP_MOUNT_VIEWPRO_UPDATE_INTERVAL_MS 100 // resend angle or rate targets to gimbal at this interval #define AP_MOUNT_VIEWPRO_ZOOM_SPEED 0x07 // hard-coded zoom speed (fast) #define AP_MOUNT_VIEWPRO_ZOOM_MAX 10 // hard-coded absolute zoom times max #define AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT (65536.0 / 360.0) // scalar to convert degrees to the viewpro angle scaling #define AP_MOUNT_VIEWPRO_OUTPUT_TO_DEG (360.0 / 65536.0) // scalar to convert viewpro angle scaling to degrees #define AP_MOUNT_VIEWPRO_DEBUG 0 #define debug(fmt, args ...) do { if (AP_MOUNT_VIEWPRO_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Viewpro: " fmt, ## args); } } while (0) const char* AP_Mount_Viewpro::send_text_prefix = "Viewpro:"; // update mount position - should be called periodically void AP_Mount_Viewpro::update() { // exit immediately if not initialised if (!_initialised) { return; } // below here we sent angle or rate targets // throttle sends of target angles or rates uint32_t now_ms = AP_HAL::millis(); if (now_ms - _last_update_ms < AP_MOUNT_VIEWPRO_UPDATE_INTERVAL_MS) { return; } _last_update_ms = now_ms; // reading incoming packets from gimbal read_incoming_packets(); // request model name if (!_got_model_name) { send_comm_config_cmd(CommConfigCmd::QUERY_MODEL); } // request firmware version if (!_got_firmware_version) { send_comm_config_cmd(CommConfigCmd::QUERY_FIRMWARE_VER); } // send handshake send_handshake(); // send vehicle attitude and position send_m_ahrs(); // change to RC_TARGETING mode if RC input has changed set_rctargeting_on_rcinput_change(); // if tracking is active we do not send new targets to the gimbal if (_last_tracking_status == TrackingStatus::SEARCHING || _last_tracking_status == TrackingStatus::TRACKING) { return; } // update based on mount mode switch (get_mode()) { // move mount to a "retracted" position. To-Do: remove support and replace with a relaxed mode? case MAV_MOUNT_MODE_RETRACT: { const Vector3f &angle_bf_target = _params.retract_angles.get(); mnt_target.target_type = MountTargetType::ANGLE; mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false); break; } // move mount to a neutral position, typically pointing forward case MAV_MOUNT_MODE_NEUTRAL: { const Vector3f &angle_bf_target = _params.neutral_angles.get(); mnt_target.target_type = MountTargetType::ANGLE; mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false); break; } // point to the angles given by a mavlink message case MAV_MOUNT_MODE_MAVLINK_TARGETING: // mavlink targets are stored while handling the incoming message break; // RC radio manual angle control, but with stabilization from the AHRS case MAV_MOUNT_MODE_RC_TARGETING: { // update targets using pilot's RC inputs MountTarget rc_target; get_rc_target(mnt_target.target_type, rc_target); switch (mnt_target.target_type) { case MountTargetType::ANGLE: mnt_target.angle_rad = rc_target; break; case MountTargetType::RATE: mnt_target.rate_rads = rc_target; break; } break; } // point mount to a GPS point given by the mission planner case MAV_MOUNT_MODE_GPS_POINT: if (get_angle_target_to_roi(mnt_target.angle_rad)) { mnt_target.target_type = MountTargetType::ANGLE; } break; // point mount to Home location case MAV_MOUNT_MODE_HOME_LOCATION: if (get_angle_target_to_home(mnt_target.angle_rad)) { mnt_target.target_type = MountTargetType::ANGLE; } break; // point mount to another vehicle case MAV_MOUNT_MODE_SYSID_TARGET: if (get_angle_target_to_sysid(mnt_target.angle_rad)) { mnt_target.target_type = MountTargetType::ANGLE; } break; default: // we do not know this mode so raise internal error INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); break; } // send target angles or rates depending on the target type switch (mnt_target.target_type) { case MountTargetType::ANGLE: send_target_angles(mnt_target.angle_rad.pitch, mnt_target.angle_rad.yaw, mnt_target.angle_rad.yaw_is_ef); break; case MountTargetType::RATE: send_target_rates(mnt_target.rate_rads.pitch, mnt_target.rate_rads.yaw, mnt_target.rate_rads.yaw_is_ef); break; } } // return true if healthy bool AP_Mount_Viewpro::healthy() const { // unhealthy until gimbal has been found and replied with firmware version info if (!_initialised) { return false; } // unhealthy if attitude information NOT received recently const uint32_t now_ms = AP_HAL::millis(); if (now_ms - _last_current_angle_rad_ms > AP_MOUNT_VIEWPRO_HEALTH_TIMEOUT_MS) { return false; } // if we get this far return healthy return true; } // get attitude as a quaternion. returns true on success bool AP_Mount_Viewpro::get_attitude_quaternion(Quaternion& att_quat) { att_quat.from_euler(_current_angle_rad.x, _current_angle_rad.y, _current_angle_rad.z); return true; } // reading incoming packets from gimbal and confirm they are of the correct format // results are held in the _parsed_msg structure void AP_Mount_Viewpro::read_incoming_packets() { // check for bytes on the serial port int16_t nbytes = MIN(_uart->available(), 1024U); if (nbytes <= 0 ) { return; } // flag to allow cases below to reset parser state bool reset_parser = false; // process bytes received for (int16_t i = 0; i < nbytes; i++) { uint8_t b; if (!_uart->read(b)) { continue; } _msg_buff[_msg_buff_len++] = b; // protect against overly long messages if (_msg_buff_len > AP_MOUNT_VIEWPRO_PACKETLEN_MAX) { reset_parser = true; debug("vp buff full s:%u len:%u", (unsigned)_parsed_msg.state, (unsigned)_msg_buff_len); } // process byte depending upon current state switch (_parsed_msg.state) { case ParseState::WAITING_FOR_HEADER1: if (b == AP_MOUNT_VIEWPRO_HEADER1) { // throw away byte _msg_buff_len = 0; _parsed_msg.state = ParseState::WAITING_FOR_HEADER2; } else { reset_parser = true; } break; case ParseState::WAITING_FOR_HEADER2: if (b == AP_MOUNT_VIEWPRO_HEADER2) { // throw away byte _msg_buff_len = 0; _parsed_msg.state = ParseState::WAITING_FOR_HEADER3; } else { reset_parser = true; } break; case ParseState::WAITING_FOR_HEADER3: if (b == AP_MOUNT_VIEWPRO_HEADER3) { // throw away byte _msg_buff_len = 0; _parsed_msg.state = ParseState::WAITING_FOR_LENGTH; } else { reset_parser = true; } break; case ParseState::WAITING_FOR_LENGTH: // length held in bits 0 ~ 5. length includes this length byte, frame id and final crc // ignore frame counter held in bits 6~7 _parsed_msg.data_len = b & 0x3F; _parsed_msg.state = ParseState::WAITING_FOR_FRAMEID; break; case ParseState::WAITING_FOR_FRAMEID: _parsed_msg.frame_id = b; _parsed_msg.data_bytes_received = 0; _parsed_msg.state = ParseState::WAITING_FOR_DATA; break; case ParseState::WAITING_FOR_DATA: _parsed_msg.data_bytes_received++; // check if we have received all data bytes. subtract 3 to remove length byte, frame id and final crc if (_parsed_msg.data_bytes_received >= _parsed_msg.data_len - 3) { _parsed_msg.state = ParseState::WAITING_FOR_CRC; } break; case ParseState::WAITING_FOR_CRC: { _parsed_msg.crc = b; const uint16_t expected_crc = calc_crc(_msg_buff, _msg_buff_len-1); if (expected_crc == _parsed_msg.crc) { // successfully received a message, do something with it process_packet(); } else { debug("crc expected:%x got:%x", (unsigned)expected_crc, (unsigned)_parsed_msg.crc); } reset_parser = true; break; } } // handle reset of parser if (reset_parser) { _msg_buff_len = 0; _parsed_msg.state = ParseState::WAITING_FOR_HEADER1; reset_parser = false; } } } // process successfully decoded packets held in the _parsed_msg structure void AP_Mount_Viewpro::process_packet() { // process packet depending upon frame id switch ((FrameId)_parsed_msg.frame_id) { case FrameId::HANDSHAKE: break; case FrameId::V: { const CommConfigCmd control_cmd = (CommConfigCmd)_msg_buff[_msg_buff_data_start]; switch (control_cmd) { case CommConfigCmd::QUERY_FIRMWARE_VER: { // firmware version, length is 20 bytes but we expect format of "S" + yyyymmdd const uint8_t fw_major_str[3] {_msg_buff[_msg_buff_data_start+4], _msg_buff[_msg_buff_data_start+5], 0x0}; const uint8_t fw_minor_str[3] {_msg_buff[_msg_buff_data_start+6], _msg_buff[_msg_buff_data_start+7], 0x0}; const uint8_t fw_patch_str[3] {_msg_buff[_msg_buff_data_start+8], _msg_buff[_msg_buff_data_start+9], 0x0}; const uint8_t major_ver = atoi((const char*)fw_major_str) & 0xFF; const uint8_t minor_ver = atoi((const char*)fw_minor_str) & 0xFF; const uint8_t patch_ver = atoi((const char*)fw_patch_str) & 0xFF; _firmware_version = (patch_ver << 16) | (minor_ver << 8) | major_ver; _got_firmware_version = true; GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s fw:%u.%u.%u", send_text_prefix, (unsigned)major_ver, (unsigned)minor_ver, (unsigned)patch_ver); break; } case CommConfigCmd::QUERY_MODEL: // gimbal model, length is 10 bytes strncpy((char *)_model_name, (const char *)&_msg_buff[_msg_buff_data_start+1], sizeof(_model_name)-1); _got_model_name = true; GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s %s", send_text_prefix, (const char*)_model_name); break; default: // unsupported control command break; } break; } case FrameId::T1_F1_B1_D1: { // T1 holds target info including target lean angles // F1 holds tracker sensor status (which camera, tracking vs lost) // B1 section holds actual lean angles // D1 section holds camera status including zoom level //const int8_t servo_status = (_msg_buff[_msg_buff_data_start+24] & 0xF0) >> 4; const TrackingStatus tracking_status = (TrackingStatus)((_msg_buff[_msg_buff_data_start+22] & 0x18) >> 3); if (tracking_status != _last_tracking_status) { _last_tracking_status = tracking_status; switch (tracking_status) { case TrackingStatus::STOPPED: GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking OFF", send_text_prefix); break; case TrackingStatus::SEARCHING: GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking searching", send_text_prefix); break; case TrackingStatus::TRACKING: GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking ON", send_text_prefix); break; case TrackingStatus::LOST: GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s tracking Lost", send_text_prefix); break; } } _last_current_angle_rad_ms = AP_HAL::millis(); _current_angle_rad.x = radians((int16_t)UINT16_VALUE(_msg_buff[_msg_buff_data_start+23] & 0x0F, _msg_buff[_msg_buff_data_start+24]) * (180.0/4095.0) - 90.0); // roll angle _current_angle_rad.z = radians((int16_t)UINT16_VALUE(_msg_buff[_msg_buff_data_start+25], _msg_buff[_msg_buff_data_start+26]) * AP_MOUNT_VIEWPRO_OUTPUT_TO_DEG); // yaw angle _current_angle_rad.y = -radians((int16_t)UINT16_VALUE(_msg_buff[_msg_buff_data_start+27], _msg_buff[_msg_buff_data_start+28]) * AP_MOUNT_VIEWPRO_OUTPUT_TO_DEG); // pitch angle debug("r:%4.1f p:%4.1f y:%4.1f", (double)degrees(_current_angle_rad.x), (double)degrees(_current_angle_rad.y), (double)degrees(_current_angle_rad.z)); // get active image sensor. D1's image sensor values are one value lower than C1's _image_sensor = ImageSensor((_msg_buff[_msg_buff_data_start+29] & 0x07) + 1); // get recording status const RecordingStatus recording_status = (RecordingStatus)(_msg_buff[_msg_buff_data_start+32] & 0x07); const bool recording = (recording_status == RecordingStatus::RECORDING); if (recording != _recording) { _recording = recording; GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording ? "ON" : "OFF"); } // get optical zoom times _zoom_times = UINT16_VALUE(_msg_buff[_msg_buff_data_start+39], _msg_buff[_msg_buff_data_start+40]) * 0.1; // get laser rangefinder distance _rangefinder_dist_m = UINT16_VALUE(_msg_buff[_msg_buff_data_start+33], _msg_buff[_msg_buff_data_start+34]) * 0.1; break; } default: debug("Unhandled FrameId:%u", (unsigned)_parsed_msg.frame_id); break; } } // calculate crc of the received message uint8_t AP_Mount_Viewpro::calc_crc(const uint8_t *buf, uint8_t len) const { uint8_t res = 0; for (uint8_t i=0; i AP_MOUNT_VIEWPRO_PACKETLEN_MAX) { debug("send_packet data buff too large"); return false; } // check for sufficient space in outgoing buffer if (_uart->txspace() < packet_size) { debug("tx space too low (%u < %u)", (unsigned)_uart->txspace(), (unsigned)packet_size); return false; } // buffer for holding outgoing packet uint8_t send_buff[packet_size]; uint8_t send_buff_ofs = 0; // packet header send_buff[send_buff_ofs++] = AP_MOUNT_VIEWPRO_HEADER1; send_buff[send_buff_ofs++] = AP_MOUNT_VIEWPRO_HEADER2; send_buff[send_buff_ofs++] = AP_MOUNT_VIEWPRO_HEADER3; // length and frame counter. length is databuffer length + 2 (1 for length, 1 for crc) send_buff[send_buff_ofs++] = get_length_and_frame_count_byte(databuff_len + 2); // data if (databuff_len != 0) { memcpy(&send_buff[send_buff_ofs], databuff, databuff_len); send_buff_ofs += databuff_len; } // crc const uint8_t crc = calc_crc(&send_buff[3], send_buff_ofs-3); send_buff[send_buff_ofs++] = crc; // write packet to serial port _uart->write(send_buff, send_buff_ofs); return true; } // send handshake, gimbal will respond with T1_F1_B1_D1 paket that includes current angles void AP_Mount_Viewpro::send_handshake() { const HandshakePacket hs_packet { .content = { frame_id: FrameId::HANDSHAKE, unused: 0 } }; send_packet(hs_packet.bytes, sizeof(hs_packet.bytes)); } // set gimbal's lock vs follow mode // lock should be true if gimbal should maintain an earth-frame target // lock is false to follow / maintain a body-frame target bool AP_Mount_Viewpro::set_lock(bool lock) { // do not send if lock mode has already been sent recently if (_last_lock == lock) { return true; } // fill in packet const A1Packet a1_packet { .content = { frame_id: FrameId::A1, servo_status: lock ? ServoStatus::FOLLOW_YAW_DISABLE : ServoStatus::FOLLOW_YAW } }; // send targets to gimbal if (send_packet(a1_packet.bytes, sizeof(a1_packet.bytes))) { _last_lock = lock; return true; } return false; } // send communication configuration command (aka U packet), gimbal will respond with a V packet bool AP_Mount_Viewpro::send_comm_config_cmd(CommConfigCmd cmd) { // fill in packet const UPacket u_packet { .content = { frame_id: FrameId::U, control_cmd: cmd } }; // send targets to gimbal return send_packet(u_packet.bytes, sizeof(u_packet.bytes)); } // send target pitch and yaw rates to gimbal // yaw_is_ef should be true if yaw_rads target is an earth frame rate, false if body_frame bool AP_Mount_Viewpro::send_target_rates(float pitch_rads, float yaw_rads, bool yaw_is_ef) { // set lock value if (!set_lock(yaw_is_ef)) { return false; } // scale pitch and yaw to values gimbal understands const int16_t pitch_rate_output = -degrees(pitch_rads) * 100.0; const int16_t yaw_rate_output = degrees(yaw_rads) * 100.0; // fill in packet const A1Packet a1_packet { .content = { frame_id: FrameId::A1, servo_status: ServoStatus::MANUAL_SPEED_MODE, yaw_be: htobe16(yaw_rate_output), pitch_be: htobe16(pitch_rate_output) } }; // send targets to gimbal return send_packet(a1_packet.bytes, sizeof(a1_packet.bytes)); } // send target pitch and yaw angles to gimbal // yaw_is_ef should be true if yaw_rad target is an earth frame angle, false if body_frame bool AP_Mount_Viewpro::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_is_ef) { // gimbal does not support lock in angle control mode if (!set_lock(false)) { return false; } // convert yaw angle to body-frame float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().get_yaw()) : yaw_rad; // enforce body-frame yaw angle limits. If beyond limits always use body-frame control const float yaw_bf_min = radians(_params.yaw_angle_min); const float yaw_bf_max = radians(_params.yaw_angle_max); if (yaw_bf_rad < yaw_bf_min || yaw_bf_rad > yaw_bf_max) { yaw_bf_rad = constrain_float(yaw_bf_rad, yaw_bf_min, yaw_bf_max); yaw_is_ef = false; } // scale pitch and yaw to values gimbal understands const int16_t pitch_angle_output = -degrees(pitch_rad) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT; const int16_t yaw_angle_output = degrees(yaw_bf_rad) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT; // fill in packet const A1Packet a1_packet { .content = { frame_id: FrameId::A1, servo_status: ServoStatus::MANUAL_ABSOLUTE_ANGLE_MODE, yaw_be: htobe16(yaw_angle_output), pitch_be: htobe16(pitch_angle_output) } }; // send targets to gimbal return send_packet(a1_packet.bytes, sizeof(a1_packet.bytes)); } // send camera command, affected image sensor and value (e.g. zoom speed) bool AP_Mount_Viewpro::send_camera_command(ImageSensor img_sensor, CameraCommand cmd, uint8_t value, LRFCommand lrf_cmd) { // fill in 2 bytes containing sensor, zoom speed, operation command and LRF // bit0~2: sensor // bit3~5: zoom speed // bit6~12: operation command no // bit13~15: LRF command const uint16_t sensor_id = (uint16_t)img_sensor; const uint16_t zoom_speed = ((uint16_t)value & 0x07) << 3; const uint16_t operation_cmd = ((uint16_t)cmd & 0x7F) << 6; const uint16_t rangefinder_cmd = ((uint16_t)lrf_cmd & 0x07) << 13; // fill in packet const C1Packet c1_packet { .content = { frame_id: FrameId::C1, sensor_zoom_cmd_be: htobe16(sensor_id | zoom_speed | operation_cmd | rangefinder_cmd) } }; // send packet to gimbal return send_packet(c1_packet.bytes, sizeof(c1_packet.bytes)); } // send camera command2 and corresponding value (e.g. zoom as absolute value) bool AP_Mount_Viewpro::send_camera_command2(CameraCommand2 cmd, uint16_t value) { // fill in packet const C2Packet c2_packet { .content = { frame_id: FrameId::C2, cmd: cmd, value_be: htobe16(value) } }; // send packet to gimbal return send_packet(c2_packet.bytes, sizeof(c2_packet.bytes)); } // send tracking command and corresponding value (normally zero) bool AP_Mount_Viewpro::send_tracking_command(TrackingCommand cmd, uint8_t value) { // convert image sensor to tracking source TrackingSource tracking_source = TrackingSource::EO1; switch (_image_sensor) { case ImageSensor::NO_ACTION: case ImageSensor::EO1: case ImageSensor::EO1_IR_PIP: case ImageSensor::FUSION: tracking_source = TrackingSource::EO1; break; case ImageSensor::IR: case ImageSensor::IR_EO1_PIP: case ImageSensor::IR1_13MM: case ImageSensor::IR2_52MM: tracking_source = TrackingSource::IR; break; } // fill in packet // Packet creation is done long-hand here to support g++-7.5.0 E1Packet e1_packet {}; e1_packet.content.frame_id = FrameId::E1; e1_packet.content.source = tracking_source; e1_packet.content.cmd = cmd; e1_packet.content.param2 = value; // normally zero // send packet to gimbal return send_packet(e1_packet.bytes, sizeof(e1_packet.bytes)); } // send camera command2 and corresponding parameter values bool AP_Mount_Viewpro::send_tracking_command2(TrackingCommand2 cmd, uint16_t param1, uint16_t param2) { // fill in packet const E2Packet e2_packet { .content = { frame_id: FrameId::E2, cmd: cmd, param1_be: htobe16(param1), param2_be: htobe16(param2), } }; // send packet to gimbal return send_packet(e2_packet.bytes, sizeof(e2_packet.bytes)); } // send vehicle attitude and position to gimbal bool AP_Mount_Viewpro::send_m_ahrs() { // get current location Location loc; int32_t alt_amsl_cm = 0; if (!AP::ahrs().get_location(loc) || !loc.get_alt_cm(Location::AltFrame::ABSOLUTE, alt_amsl_cm)) { return false; } #if AP_RTC_ENABLED // get date and time uint16_t year, ms; uint8_t month, day, hour, min, sec; if (!AP::rtc().get_date_and_time_utc(year, month, day, hour, min, sec, ms)) { year = month = day = hour = min = sec = ms = 0; } uint16_t date = ((year-2000) & 0x7f) | (((month+1) & 0x0F) << 7) | ((day & 0x1F) << 11); uint64_t second_hundredths = (((hour * 60 * 60) + (min * 60) + sec) * 100) + (ms * 0.1); #else const uint16_t date = 0; const uint64_t second_hundredths = 0; #endif // get vehicle velocity in m/s in NED Frame Vector3f vel_NED; IGNORE_RETURN(AP::ahrs().get_velocity_NED(vel_NED)); float vel_yaw_deg = wrap_360(degrees(vel_NED.xy().angle())); // get GPS vdop uint16_t gps_vdop = AP::gps().get_vdop(); // get vehicle yaw in the range 0 to 360 const uint16_t veh_yaw_deg = wrap_360(degrees(AP::ahrs().get_yaw())); // fill in packet const M_AHRSPacket mahrs_packet { .content = { frame_id: FrameId::M_AHRS, data_type: 0x07, // Bit0: Attitude, Bit1: GPS, Bit2 Gyro unused2to8 : {0, 0, 0, 0, 0, 0, 0}, roll_be: htobe16(degrees(AP::ahrs().get_roll()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle roll angle. 1bit=360deg/65536 pitch_be: htobe16(-degrees(AP::ahrs().get_pitch()) * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle pitch angle. 1bit=360deg/65536 yaw_be: htobe16(veh_yaw_deg * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // vehicle yaw angle. 1bit=360deg/65536 date_be: htobe16(date), // bit0~6:year, bit7~10:month, bit11~15:day seconds_utc: {uint8_t((second_hundredths & 0xFF0000ULL) >> 16), // seconds * 100 MSB. 1bit = 0.01sec uint8_t((second_hundredths & 0xFF00ULL) >> 8), // seconds * 100 next MSB. 1bit = 0.01sec uint8_t(second_hundredths & 0xFFULL)}, // seconds * 100 LSB. 1bit = 0.01sec gps_yaw_be: htobe16(vel_yaw_deg * AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT), // GPS yaw position_mark_bitmask: 0x0F, // bit0:new position, bit1:clock fix calced, bit2:horiz calced, bit3:alt calced latitude_be: htobe32(loc.lat), // latitude. 1bit = 10e-7 longitude_be: htobe32(loc.lng), // longitude. 1bit = 10e-7 height_be: htobe32(alt_amsl_cm * 10), // height. 1bit = 1mm ground_speed_N_be: htobe16(vel_NED.x * 100), // ground speed in North direction. 1bit = 0.01m/s ground_speed_E_be: htobe16(vel_NED.y * 100), // ground speed in East direction. 1bit = 0.01m/s vdop_be: htobe16(gps_vdop), // GPS vdop. 1bit = 0.01 ground_speed_D_be: htobe16(vel_NED.z * 100) // speed downwards. 1bit = 0.01m/s } }; // send packet to gimbal return send_packet(mahrs_packet.bytes, sizeof(mahrs_packet.bytes)); } // take a picture. returns true on success bool AP_Mount_Viewpro::take_picture() { // exit immediately if not initialised if (!_initialised) { return false; } return send_camera_command(_image_sensor, CameraCommand::TAKE_PICTURE, 0); } // start or stop video recording. returns true on success // set start_recording = true to start record, false to stop recording bool AP_Mount_Viewpro::record_video(bool start_recording) { // exit immediately if not initialised if (!_initialised) { return false; } return send_camera_command(_image_sensor, start_recording ? CameraCommand::START_RECORD : CameraCommand::STOP_RECORD, 0); } // set zoom specified as a rate or percentage bool AP_Mount_Viewpro::set_zoom(ZoomType zoom_type, float zoom_value) { // exit immediately if not initialised if (!_initialised) { return false; } // zoom rate if (zoom_type == ZoomType::RATE) { CameraCommand zoom_cmd = CameraCommand::STOP_FOCUS_AND_ZOOM; if (zoom_value < 0) { zoom_cmd = CameraCommand::ZOOM_OUT; } else if (zoom_value > 0) { zoom_cmd = CameraCommand::ZOOM_IN; } return send_camera_command(_image_sensor, zoom_cmd, AP_MOUNT_VIEWPRO_ZOOM_SPEED); } // zoom percentage if (zoom_type == ZoomType::PCT) { // convert zoom percentage (0 ~ 100) to zoom value (0 ~ max zoom * 10) return send_camera_command2(CameraCommand2::SET_EO_ZOOM, linear_interpolate(0, AP_MOUNT_VIEWPRO_ZOOM_MAX * 10, zoom_value, 0, 100)); } // unsupported zoom type return false; } // set focus specified as rate, percentage or auto // focus in = -1, focus hold = 0, focus out = 1 SetFocusResult AP_Mount_Viewpro::set_focus(FocusType focus_type, float focus_value) { // exit immediately if not initialised if (!_initialised) { return SetFocusResult::FAILED; } switch (focus_type) { case FocusType::RATE: { CameraCommand focus_cmd = CameraCommand::STOP_FOCUS_AND_ZOOM; if (focus_value < 0) { focus_cmd = CameraCommand::FOCUS_MINUS; } else if (focus_value > 0) { focus_cmd = CameraCommand::FOCUS_PLUS; } if (!send_camera_command(_image_sensor, focus_cmd, 0)) { return SetFocusResult::FAILED; } return SetFocusResult::ACCEPTED; } case FocusType::PCT: // not supported return SetFocusResult::INVALID_PARAMETERS; case FocusType::AUTO: if (!send_camera_command(_image_sensor, CameraCommand::AUTO_FOCUS, 0)) { return SetFocusResult::FAILED; } return SetFocusResult::ACCEPTED; } // unsupported focus type return SetFocusResult::INVALID_PARAMETERS; } // set tracking to none, point or rectangle (see TrackingType enum) // if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right // p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom bool AP_Mount_Viewpro::set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2) { // exit immediately if not initialised if (!_initialised) { return false; } switch (tracking_type) { case TrackingType::TRK_NONE: return send_tracking_command(TrackingCommand::STOP, 0); break; case TrackingType::TRK_POINT: { return (send_tracking_command(TrackingCommand::START, 0) && send_tracking_command2(TrackingCommand2::SET_POINT, (p1.x - 0.5) * 960, (p1.y - 0.5) * 540)); break; } case TrackingType::TRK_RECTANGLE: return (send_tracking_command(TrackingCommand::START, 0) && send_tracking_command2(TrackingCommand2::SET_RECT_TOPLEFT, (p1.x - 0.5) * 960, (p1.y - 0.5) * 540) && send_tracking_command2(TrackingCommand2::SET_RECT_BOTTOMRIGHT, (p2.x - 0.5) * 960, (p2.y - 0.5) * 540)); break; } // should never reach here return false; } // set camera lens as a value from 0 to 5 bool AP_Mount_Viewpro::set_lens(uint8_t lens) { // exit immediately if not initialised if (!_initialised) { return false; } // match lens to ImageSensor enum values and sanity check lens++; if (lens > (uint8_t)ImageSensor::IR2_52MM) { return false; } // if lens is zero use default lens ImageSensor new_image_sensor = ImageSensor(lens); return send_camera_command(new_image_sensor, CameraCommand::NO_ACTION, 0); } // set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type // primary and secondary sources use the AP_Camera::CameraSource enum cast to uint8_t bool AP_Mount_Viewpro::set_camera_source(uint8_t primary_source, uint8_t secondary_source) { // maps primary and secondary source to viewpro image sensor ImageSensor new_image_sensor; switch (primary_source) { case 0: // Default (RGB) FALLTHROUGH; case 1: // RGB switch (secondary_source) { case 0: // RGB + Default (None) new_image_sensor = ImageSensor::EO1; break; case 2: // PIP RGB+IR new_image_sensor = ImageSensor::EO1_IR_PIP; break; default: return false; } break; case 2: // IR switch (secondary_source) { case 0: // IR + Default (None) new_image_sensor = ImageSensor::IR; break; case 1: // PIP IR+RGB new_image_sensor = ImageSensor::IR_EO1_PIP; break; default: return false; } break; default: return false; } // send desired image type to camera return send_camera_command(new_image_sensor, CameraCommand::NO_ACTION, 0); } // send camera information message to GCS void AP_Mount_Viewpro::send_camera_information(mavlink_channel_t chan) const { // exit immediately if not initialised if (!_initialised) { return; } static const uint8_t vendor_name[32] = "Viewpro"; uint8_t model_name[32] {}; if (_got_model_name) { strncpy((char *)model_name, (const char*)_model_name, MIN(sizeof(model_name), sizeof(_model_name))); } const char cam_definition_uri[140] {}; // capability flags const uint32_t flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO | CAMERA_CAP_FLAGS_CAPTURE_IMAGE | CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM | CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS | CAMERA_CAP_FLAGS_HAS_TRACKING_POINT | CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE; // send CAMERA_INFORMATION message mavlink_msg_camera_information_send( chan, AP_HAL::millis(), // time_boot_ms vendor_name, // vendor_name uint8_t[32] _model_name, // model_name uint8_t[32] _firmware_version, // firmware version uint32_t 0, // focal_length float (mm) 0, // sensor_size_h float (mm) 0, // sensor_size_v float (mm) 0, // resolution_h uint16_t (pix) 0, // resolution_v uint16_t (pix) 0, // lens_id uint8_t flags, // flags uint32_t (CAMERA_CAP_FLAGS) 0, // cam_definition_version uint16_t cam_definition_uri, // cam_definition_uri char[140] _instance + 1); // gimbal_device_id uint8_t } // send camera settings message to GCS void AP_Mount_Viewpro::send_camera_settings(mavlink_channel_t chan) const { // exit immediately if not initialised if (!_initialised) { return; } const float NaN = nanf("0x4152"); // convert zoom times (e.g. 1x ~ 20x) to target zoom level (e.g. 0 to 100) const float zoom_level = linear_interpolate(0, 100, _zoom_times, 1, AP_MOUNT_VIEWPRO_ZOOM_MAX); // send CAMERA_SETTINGS message mavlink_msg_camera_settings_send( chan, AP_HAL::millis(), // time_boot_ms _recording ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey) zoom_level, // zoomLevel float, percentage from 0 to 100, NaN if unknown NaN); // focusLevel float, percentage from 0 to 100, NaN if unknown } // get rangefinder distance. Returns true on success bool AP_Mount_Viewpro::get_rangefinder_distance(float& distance_m) const { // if not healthy or zero distance return false // healthy() checks attitude timeout which is in same message as rangefinder distance if (!healthy()) { return false; } distance_m = _rangefinder_dist_m; return true; } // enable/disable rangefinder. Returns true on success bool AP_Mount_Viewpro::set_rangefinder_enable(bool enable) { return send_camera_command(ImageSensor::NO_ACTION, CameraCommand::NO_ACTION, 0, enable ? LRFCommand::CONTINUOUS_RANGING_START : LRFCommand::STOP_RANGING); } #endif // HAL_MOUNT_VIEWPRO_ENABLED