ardupilot/libraries/AP_Mount/AP_Mount_SToRM32.h

57 lines
2.0 KiB
C++

/*
SToRM32 mount backend class
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <AP_GPS/AP_GPS.h>
#include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <RC_Channel/RC_Channel.h>
#include "AP_Mount_Backend.h"
#define AP_MOUNT_STORM32_RESEND_MS 1000 // resend angle targets to gimbal once per second
#define AP_MOUNT_STORM32_SEARCH_MS 60000 // search for gimbal for 1 minute after startup
class AP_Mount_SToRM32 : public AP_Mount_Backend
{
public:
// Constructor
AP_Mount_SToRM32(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;
private:
// search for gimbal in GCS_MAVLink routing table
void find_gimbal();
// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message
void send_do_mount_control(float pitch_deg, float roll_deg, float yaw_deg, enum MAV_MOUNT_MODE mount_mode);
// internal variables
bool _initialised; // true once the driver has been initialised
uint8_t _sysid; // sysid of gimbal
uint8_t _compid; // component id of gimbal
mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal. Currently hard-coded to Telem2
uint32_t _last_send; // system time of last do_mount_control sent to gimbal
};