mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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gimbal simulator class
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./Tools/autotest/sim_vehicle.py -D -G -v ArduCopter --mavlink-gimbal
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param set MNT1_TYPE 2
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param set RC6_OPTION 213 # MOUNT1_PITCH
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rc 6 1818 # for neutral pitch input
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*/
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#pragma once
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#include "SIM_config.h"
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#if AP_SIM_SOLOGIMBAL_ENABLED
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#include "SIM_Gimbal.h"
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#include <AP_Math/AP_Math.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_HAL/utility/Socket_native.h>
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namespace SITL {
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class SoloGimbal {
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public:
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SoloGimbal() {}
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void update(const Aircraft &aicraft);
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private:
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const char *target_address = "127.0.0.1";
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const uint16_t target_port = 5762;
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// physic simulation of gimbal:
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Gimbal gimbal;
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// reporting variables. gimbal pushes these to vehicle code over
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// MAVLink at approx 100Hz
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// reporting period in ms
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const float reporting_period_ms = 10;
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uint32_t last_report_us;
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uint32_t last_heartbeat_ms;
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bool seen_heartbeat;
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bool seen_gimbal_control;
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uint8_t vehicle_system_id;
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uint8_t vehicle_component_id;
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SocketAPM_native mav_socket{false};
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struct {
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// socket to telem2 on aircraft
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bool connected;
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mavlink_message_t rxmsg;
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mavlink_status_t status;
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uint8_t seq;
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} mavlink;
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uint32_t param_send_last_ms;
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uint8_t param_send_idx;
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// component ID we send from:
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const uint8_t gimbal_component_id = 154; // MAV_COMP_ID_GIMBAL
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void send_report(void);
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void param_send(const struct gimbal_param *p);
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struct gimbal_param *param_find(const char *name);
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};
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} // namespace SITL
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#endif // AP_SIM_SOLOGIMBAL_ENABLED
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