mirror of https://github.com/ArduPilot/ardupilot
120 lines
4.1 KiB
C++
120 lines
4.1 KiB
C++
#include "AP_Mount_config.h"
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#if HAL_MOUNT_SCRIPTING_ENABLED
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#include "AP_Mount_Scripting.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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#define AP_MOUNT_SCRIPTING_TIMEOUT_MS 1000 // scripting mount becomes unhealthy after 1sec with no updates
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#define AP_MOUNT_SCRIPTING_DEBUG 0
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#define debug(fmt, args ...) do { if (AP_MOUNT_SCRIPTING_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: " fmt, ## args); } } while (0)
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// update mount position - should be called periodically
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void AP_Mount_Scripting::update()
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{
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// change to RC_TARGETING mode if RC input has changed
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set_rctargeting_on_rcinput_change();
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// update based on mount mode
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switch (get_mode()) {
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// move mount to a "retracted" position. To-Do: remove support and replace with a relaxed mode?
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case MAV_MOUNT_MODE_RETRACT: {
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const Vector3f &angle_bf_target = _params.retract_angles.get();
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mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
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mnt_target.target_type = MountTargetType::ANGLE;
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target_loc_valid = false;
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break;
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}
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// move mount to a neutral position, typically pointing forward
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case MAV_MOUNT_MODE_NEUTRAL: {
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const Vector3f &angle_bf_target = _params.neutral_angles.get();
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mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
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mnt_target.target_type = MountTargetType::ANGLE;
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target_loc_valid = false;
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break;
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}
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// point to the angles given by a mavlink message
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case MAV_MOUNT_MODE_MAVLINK_TARGETING:
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// mavlink targets should have been already stored while handling the message
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target_loc_valid = false;
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break;
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// RC radio manual angle control, but with stabilization from the AHRS
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case MAV_MOUNT_MODE_RC_TARGETING:
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update_mnt_target_from_rc_target();
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target_loc_valid = false;
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break;
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// point mount to a GPS point given by the mission planner
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case MAV_MOUNT_MODE_GPS_POINT:
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if (get_angle_target_to_roi(mnt_target.angle_rad)) {
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mnt_target.target_type = MountTargetType::ANGLE;
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}
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break;
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// point mount to Home location
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case MAV_MOUNT_MODE_HOME_LOCATION:
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if (get_angle_target_to_home(mnt_target.angle_rad)) {
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mnt_target.target_type = MountTargetType::ANGLE;
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}
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break;
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// point mount to another vehicle
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case MAV_MOUNT_MODE_SYSID_TARGET:
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if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
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mnt_target.target_type = MountTargetType::ANGLE;
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}
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break;
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default:
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// we do not know this mode so raise internal error
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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break;
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}
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}
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// return true if healthy
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bool AP_Mount_Scripting::healthy() const
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{
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// healthy if scripting backend has updated actual angles recently
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return (AP_HAL::millis() - last_update_ms <= AP_MOUNT_SCRIPTING_TIMEOUT_MS);
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}
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// return target location if available
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// returns true if a target location is available and fills in target_loc argument
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bool AP_Mount_Scripting::get_location_target(Location &_target_loc)
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{
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if (target_loc_valid) {
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_target_loc = target_loc;
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return true;
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}
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return false;
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}
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// update mount's actual angles (to be called by script communicating with mount)
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void AP_Mount_Scripting::set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg)
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{
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last_update_ms = AP_HAL::millis();
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current_angle_deg.x = roll_deg;
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current_angle_deg.y = pitch_deg;
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current_angle_deg.z = yaw_bf_deg;
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}
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// get attitude as a quaternion. returns true on success
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bool AP_Mount_Scripting::get_attitude_quaternion(Quaternion& att_quat)
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{
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// construct quaternion
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att_quat.from_euler(radians(current_angle_deg.x), radians(current_angle_deg.y), radians(current_angle_deg.z));
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return true;
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}
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#endif // HAL_MOUNT_SCRIPTING_ENABLED
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