ardupilot/libraries/AP_Mount/AP_Mount_SoloGimbal.h

64 lines
1.9 KiB
C++

/*
MAVLink enabled mount backend class
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#if AP_AHRS_NAVEKF_AVAILABLE
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <RC_Channel/RC_Channel.h>
#include "AP_Mount_Backend.h"
#include "SoloGimbal.h"
class AP_Mount_SoloGimbal : public AP_Mount_Backend
{
public:
// Constructor
AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
// init - performs any required initialisation for this instance
virtual void init(const AP_SerialManager& serial_manager) override;
// update mount position - should be called periodically
virtual void update() override;
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
virtual bool has_pan_control() const override;
// set_mode - sets mount's mode
virtual void set_mode(enum MAV_MOUNT_MODE mode) override;
// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
virtual void send_mount_status(mavlink_channel_t chan) override;
// handle a GIMBAL_REPORT message
void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg) override;
void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t *msg);
void handle_param_value(const mavlink_message_t *msg) override;
// send a GIMBAL_REPORT message to the GCS
void send_gimbal_report(mavlink_channel_t chan) override;
virtual void update_fast() override;
private:
// internal variables
bool _initialised; // true once the driver has been initialised
// Write a gimbal measurament and estimation data packet
void Log_Write_Gimbal(SoloGimbal &gimbal);
bool _params_saved;
SoloGimbal _gimbal;
};
#endif // AP_AHRS_NAVEKF_AVAILABLE