mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.4 KiB
C++
91 lines
3.4 KiB
C++
/*
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Scripting mount/gimbal driver
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*/
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#pragma once
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#include "AP_Mount_Backend.h"
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#if HAL_MOUNT_SCRIPTING_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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class AP_Mount_Scripting : public AP_Mount_Backend
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{
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public:
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// Constructor
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using AP_Mount_Backend::AP_Mount_Backend;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Mount_Scripting);
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// init - performs any required initialisation for this instance
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void init() override {};
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// update mount position - should be called periodically
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void update() override;
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// return true if healthy
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bool healthy() const override;
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// has_pan_control - returns true if this mount can control its pan (required for multicopters)
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bool has_pan_control() const override { return yaw_range_valid(); };
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// take a picture. returns true on success
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bool take_picture() override;
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// start or stop video recording. returns true on success
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// set start_recording = true to start record, false to stop recording
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bool record_video(bool start_recording) override;
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// set camera zoom step. returns true on success
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// zoom out = -1, hold = 0, zoom in = 1
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bool set_zoom_step(int8_t zoom_step) override;
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// set focus in, out or hold. returns true on success
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// focus in = -1, focus hold = 0, focus out = 1
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bool set_manual_focus_step(int8_t focus_step) override;
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// auto focus. returns true on success
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bool set_auto_focus() override;
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// accessors for scripting backends
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bool get_rate_target(float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame) override;
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bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame) override;
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bool get_location_target(Location& _target_loc) override;
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void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) override;
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bool get_camera_state(uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus) override;
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protected:
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// get attitude as a quaternion. returns true on success
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bool get_attitude_quaternion(Quaternion& att_quat) override;
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private:
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// internal variables
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uint32_t last_update_ms; // system time of last call to one of the get_ methods. Used for health reporting
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Vector3f current_angle_deg; // current gimbal angles in degrees (x=roll, y=pitch, z=yaw)
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MountTarget target_rate_rads; // rate target in rad/s
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bool target_rate_rads_valid; // true if _target_rate_degs holds a valid rate target
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MountTarget target_angle_rad; // angle target in radians
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bool target_angle_rad_valid; // true if _target_rate_degs holds a valid rate target
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Location target_loc; // target location
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bool target_loc_valid; // true if target_loc holds a valid target location
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// camera related internal variables
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uint16_t picture_count; // number of pictures that have been taken (or at least requested)
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bool recording_video; // true when record video has been requested
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int8_t manual_zoom_step; // manual zoom step. zoom out = -1, hold = 0, zoom in = 1
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int8_t manual_focus_step; // manual focus step. focus in = -1, focus hold = 0, focus out = 1
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bool auto_focus_active; // auto focus active
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};
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#endif // HAL_MOUNT_SIYISERIAL_ENABLED
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