ardupilot/libraries/AP_Mount/AP_Mount_Scripting.h

91 lines
3.4 KiB
C++

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