mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
107155fa1a
This has the added benefit of saving 60 bytes and simplifying Mission Planner gui. Moved some code from RC_Channel_aux to AP_Mount class The servos get written by the update_mount_position() function, this simplifies main() PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
607 lines
22 KiB
C++
607 lines
22 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <FastSerial.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Mount.h>
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const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
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// @Param: MODE
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// @DisplayName: Mount operation mode
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// @Description: Camera or antenna mount operation mode
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// @Values: 0:retract,1:neutral,2:MavLink_targeting,3:RC_targeting,4:GPS_point
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// @User: Standard
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AP_GROUPINFO("MODE", 0, AP_Mount, _mount_mode), // see MAV_MOUNT_MODE at ardupilotmega.h
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// @Param: RETRACT
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// @DisplayName: Mount retract angles
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// @Description: Mount angles when in retract operation mode
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("RETRACT", 1, AP_Mount, _retract_angles),
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// @Param: NEUTRAL
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// @DisplayName: Mount neutral angles
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// @Description: Mount angles when in neutral operation mode
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("NEUTRAL", 2, AP_Mount, _neutral_angles),
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// @Param: CONTROL
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// @DisplayName: Mount control angles
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// @Description: Mount angles when in MavLink or RC control operation mode
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("CONTROL", 3, AP_Mount, _control_angles),
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// @Param: STAB_ROLL
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// @DisplayName: Stabilize mount roll
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// @Description:enable roll stabilisation relative to Earth
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("STAB_ROLL", 4, AP_Mount, _stab_roll),
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// @Param: STAB_TILT
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// @DisplayName: Stabilize mount tilt
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// @Description: enable tilt (pitch) stabilisation relative to Earth
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("STAB_TILT", 5, AP_Mount, _stab_tilt),
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// @Param: STAB_PAN
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// @DisplayName: Stabilize mount pan
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// @Description: enable pan (yaw) stabilisation relative to Earth
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("STAB_PAN", 6, AP_Mount, _stab_pan),
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// @Param: ROLL_RC_IN
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// @DisplayName: roll RC input channel
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// @Description: 0 for none, any other for the RC channel to be used to control roll movements
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// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8
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// @User: Standard
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AP_GROUPINFO("ROLL_RC_IN", 7, AP_Mount, _roll_rc_in),
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// @Param: ROLL_ANGLE_MIN
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// @DisplayName: Minimum roll angle
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// @Description: Minimum physical roll angular position of mount.
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("ROLL_ANGMIN", 8, AP_Mount, _roll_angle_min),
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// @Param: ROLL_ANGLE_MAX
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// @DisplayName: Maximum roll angle
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// @Description: Maximum physical roll angular position of the mount
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("ROLL_ANGMAX", 9, AP_Mount, _roll_angle_max),
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// @Param: TILT_RC_IN
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// @DisplayName: tilt (pitch) RC input channel
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// @Description: 0 for none, any other for the RC channel to be used to control tilt (pitch) movements
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// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8
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// @User: Standard
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AP_GROUPINFO("TILT_RC_IN", 10, AP_Mount, _tilt_rc_in),
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// @Param: TILT_ANGLE_MIN
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// @DisplayName: Minimum tilt angle
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// @Description: Minimum physical tilt (pitch) angular position of mount.
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("TILT_ANGMIN", 11, AP_Mount, _tilt_angle_min),
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// @Param: TILT_ANGLE_MAX
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// @DisplayName: Maximum tilt angle
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// @Description: Maximum physical tilt (pitch) angular position of the mount
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("TILT_ANGMAX", 12, AP_Mount, _tilt_angle_max),
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// @Param: PAN_RC_IN
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// @DisplayName: pan (yaw) RC input channel
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// @Description: 0 for none, any other for the RC channel to be used to control pan (yaw) movements
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// @Values: 0:Disabled,5:RC5,6:RC6,7:RC7,8:RC8
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// @User: Standard
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AP_GROUPINFO("PAN_RC_IN", 13, AP_Mount, _pan_rc_in),
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// @Param: PAN_ANGLE_MIN
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// @DisplayName: Minimum pan angle
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// @Description: Minimum physical pan (yaw) angular position of mount.
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("PAN_ANGMIN", 14, AP_Mount, _pan_angle_min),
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// @Param: PAN_ANGLE_MAX
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// @DisplayName: Maximum pan angle
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// @Description: Maximum physical pan (yaw) angular position of the mount
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// @Units: centi-Degrees
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// @Range: -18000 17999
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("PAN_ANGMAX", 15, AP_Mount, _pan_angle_max),
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/*
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Must be commented out because the framework does not support more than 16 parameters
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// @Param: JOYSTICK_SPEED
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// @DisplayName: mount joystick speed
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// @Description: 0 for position control, small for low speeds, 10 for max speed
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// @Range: 0 10
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// @Increment: 1
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// @User: Standard
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AP_GROUPINFO("JOYSTICK_SPEED", 16, AP_Mount, _joystick_speed),
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*/
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AP_GROUPEND
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};
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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extern RC_Channel* rc_ch[NUM_CHANNELS];
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AP_Mount::AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs):
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_gps(gps)
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{
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_ahrs = ahrs;
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_current_loc = current_loc;
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// startup with the mount retracted
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set_mode(MAV_MOUNT_MODE_RETRACT);
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// default to zero angles
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_retract_angles = Vector3f(0,0,0);
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_neutral_angles = Vector3f(0,0,0);
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_control_angles = Vector3f(0,0,0);
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// default unknown mount type
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_mount_type = k_unknown;
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// default manual rc channel to disabled
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_pan_rc_in = 0;
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_tilt_rc_in= 0;
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_roll_rc_in= 0;
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_pan_angle_min = -4500; // assume -45 degrees min deflection
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_pan_angle_max = 4500; // assume 45 degrees max deflection
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_tilt_angle_min = -4500; // assume -45 degrees min deflection
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_tilt_angle_max = 4500; // assume 45 degrees max deflection
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_roll_angle_min = -4500; // assume -45 degrees min deflection
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_roll_angle_max = 4500; // assume 45 degrees max deflection
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}
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/// Auto-detect the mount gimbal type depending on the functions assigned to the servos
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void
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AP_Mount::update_mount_type()
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{
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if ((g_rc_function[RC_Channel_aux::k_mount_roll] == NULL) && (g_rc_function[RC_Channel_aux::k_mount_tilt] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pan] != NULL))
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{
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_mount_type = k_pan_tilt;
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}
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if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_tilt] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pan] == NULL))
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{
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_mount_type = k_tilt_roll;
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}
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if ((g_rc_function[RC_Channel_aux::k_mount_roll] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_tilt] != NULL) && (g_rc_function[RC_Channel_aux::k_mount_pan] != NULL))
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{
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_mount_type = k_pan_tilt_roll;
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}
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}
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/// sets the servo angles for retraction, note angles are in degrees
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void AP_Mount::set_retract_angles(float roll, float tilt, float pan)
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{
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_retract_angles = Vector3f(roll, tilt, pan);
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}
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//sets the servo angles for neutral, note angles are in degrees
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void AP_Mount::set_neutral_angles(float roll, float tilt, float pan)
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{
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_neutral_angles = Vector3f(roll, tilt, pan);
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}
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/// sets the servo angles for MAVLink, note angles are in degrees
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void AP_Mount::set_control_angles(float roll, float tilt, float pan)
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{
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_control_angles = Vector3f(roll, tilt, pan);
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}
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/// used to tell the mount to track GPS location
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void AP_Mount::set_GPS_target_location(Location targetGPSLocation)
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{
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_target_GPS_location=targetGPSLocation;
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}
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/// This one should be called periodically
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void AP_Mount::update_mount_position()
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{
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switch((enum MAV_MOUNT_MODE)_mount_mode.get())
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{
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// move mount to a "retracted position" or to a position where a fourth servo can retract the entire mount into the fuselage
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case MAV_MOUNT_MODE_RETRACT:
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{
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Vector3f vec = _retract_angles.get();
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_roll_angle = vec.x;
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_tilt_angle = vec.y;
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_pan_angle = vec.z;
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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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{
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Vector3f vec = _neutral_angles.get();
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_roll_angle = vec.x;
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_tilt_angle = vec.y;
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_pan_angle = vec.z;
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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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{
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Vector3f vec = _control_angles.get();
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_roll_control_angle = radians(vec.x);
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_tilt_control_angle = radians(vec.y);
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_pan_control_angle = radians(vec.z);
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stabilize();
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break;
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}
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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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{
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/* if (_joystick_speed) { // for spring loaded joysticks
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// allow pilot speed position input to come directly from an RC_Channel
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if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
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//_roll_control_angle += angle_input(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max) * 0.00001 * _joystick_speed;
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_roll_control_angle += rc_ch[_roll_rc_in-1]->norm_input() * 0.00001 * _joystick_speed;
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if (_roll_control_angle < radians(_roll_angle_min*0.01)) _roll_control_angle = radians(_roll_angle_min*0.01);
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if (_roll_control_angle > radians(_roll_angle_max*0.01)) _roll_control_angle = radians(_roll_angle_max*0.01);
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}
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if (_tilt_rc_in && (rc_ch[_tilt_rc_in-1])) {
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//_tilt_control_angle += angle_input(rc_ch[_tilt_rc_in-1], _tilt_angle_min, _tilt_angle_max) * 0.00001 * _joystick_speed;
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_tilt_control_angle += rc_ch[_tilt_rc_in-1]->norm_input() * 0.00001 * _joystick_speed;
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if (_tilt_control_angle < radians(_tilt_angle_min*0.01)) _tilt_control_angle = radians(_tilt_angle_min*0.01);
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if (_tilt_control_angle > radians(_tilt_angle_max*0.01)) _tilt_control_angle = radians(_tilt_angle_max*0.01);
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}
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if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) {
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//_pan_control_angle += angle_input(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max) * 0.00001 * _joystick_speed;
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_pan_control_angle += rc_ch[_pan_rc_in-1]->norm_input() * 0.00001 * _joystick_speed;
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if (_pan_control_angle < radians(_pan_angle_min*0.01)) _pan_control_angle = radians(_pan_angle_min*0.01);
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if (_pan_control_angle > radians(_pan_angle_max*0.01)) _pan_control_angle = radians(_pan_angle_max*0.01);
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}
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} else {
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*/ // allow pilot position input to come directly from an RC_Channel
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if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
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_roll_control_angle = angle_input_rad(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max);
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}
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if (_tilt_rc_in && (rc_ch[_tilt_rc_in-1])) {
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_tilt_control_angle = angle_input_rad(rc_ch[_tilt_rc_in-1], _tilt_angle_min, _tilt_angle_max);
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}
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if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) {
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_pan_control_angle = angle_input_rad(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max);
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}
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// }
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stabilize();
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break;
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}
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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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{
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if(_gps->fix){
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calc_GPS_target_angle(&_target_GPS_location);
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stabilize();
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}
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break;
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}
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default:
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//do nothing
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break;
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}
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// write the results to the servos
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move_servo(g_rc_function[RC_Channel_aux::k_mount_roll], _roll_angle*10, _roll_angle_min*0.1, _roll_angle_max*0.1);
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move_servo(g_rc_function[RC_Channel_aux::k_mount_tilt], _tilt_angle*10, _tilt_angle_min*0.1, _tilt_angle_max*0.1);
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move_servo(g_rc_function[RC_Channel_aux::k_mount_pan ], _pan_angle*10, _pan_angle_min*0.1, _pan_angle_max*0.1);
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}
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void AP_Mount::set_mode(enum MAV_MOUNT_MODE mode)
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{
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_mount_mode = (int8_t)mode;
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}
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/// Change the configuration of the mount
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/// triggered by a MavLink packet.
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void AP_Mount::configure_msg(mavlink_message_t* msg)
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{
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__mavlink_mount_configure_t packet;
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mavlink_msg_mount_configure_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system, packet.target_component)) {
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// not for us
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return;
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}
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set_mode((enum MAV_MOUNT_MODE)packet.mount_mode);
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_stab_roll = packet.stab_roll;
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_stab_tilt = packet.stab_pitch;
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_stab_pan = packet.stab_yaw;
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}
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/// Control the mount (depends on the previously set mount configuration)
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/// triggered by a MavLink packet.
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void AP_Mount::control_msg(mavlink_message_t *msg)
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{
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__mavlink_mount_control_t packet;
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mavlink_msg_mount_control_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system, packet.target_component)) {
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// not for us
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return;
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}
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switch ((enum MAV_MOUNT_MODE)_mount_mode.get())
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{
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case MAV_MOUNT_MODE_RETRACT: // Load and keep safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization
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set_retract_angles(packet.input_b*0.01, packet.input_a*0.01, packet.input_c*0.01);
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if (packet.save_position)
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{
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_retract_angles.save();
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}
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break;
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case MAV_MOUNT_MODE_NEUTRAL: // Load and keep neutral position (Roll,Pitch,Yaw) from EEPROM
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set_neutral_angles(packet.input_b*0.01, packet.input_a*0.01, packet.input_c*0.01);
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if (packet.save_position)
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{
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_neutral_angles.save();
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}
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break;
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case MAV_MOUNT_MODE_MAVLINK_TARGETING: // Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
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set_control_angles(packet.input_b*0.01, packet.input_a*0.01, packet.input_c*0.01);
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break;
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case MAV_MOUNT_MODE_RC_TARGETING: // Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
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{
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Vector3f vec = _neutral_angles.get();
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_roll_angle = vec.x;
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_tilt_angle = vec.y;
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_pan_angle = vec.z;
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}
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break;
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case MAV_MOUNT_MODE_GPS_POINT: // Load neutral position and start to point to Lat,Lon,Alt
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Location targetGPSLocation;
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targetGPSLocation.lat = packet.input_a;
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targetGPSLocation.lng = packet.input_b;
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targetGPSLocation.alt = packet.input_c;
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set_GPS_target_location(targetGPSLocation);
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break;
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case MAV_MOUNT_MODE_ENUM_END:
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break;
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default:
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// do nothing
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break;
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}
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}
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/// Return mount status information (depends on the previously set mount configuration)
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/// triggered by a MavLink packet.
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void AP_Mount::status_msg(mavlink_message_t *msg)
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{
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__mavlink_mount_status_t packet;
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mavlink_msg_mount_status_decode(msg, &packet);
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if (mavlink_check_target(packet.target_system, packet.target_component)) {
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// not for us
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return;
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}
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switch ((enum MAV_MOUNT_MODE)_mount_mode.get())
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{
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case MAV_MOUNT_MODE_RETRACT: // safe position (Roll,Pitch,Yaw) from EEPROM and stop stabilization
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case MAV_MOUNT_MODE_NEUTRAL: // neutral position (Roll,Pitch,Yaw) from EEPROM
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case MAV_MOUNT_MODE_MAVLINK_TARGETING: // neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
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case MAV_MOUNT_MODE_RC_TARGETING: // neutral position and start RC Roll,Pitch,Yaw control with stabilization
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packet.pointing_b = _roll_angle*100; ///< degrees*100
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packet.pointing_a = _tilt_angle*100; ///< degrees*100
|
|
packet.pointing_c = _pan_angle*100; ///< degrees*100
|
|
break;
|
|
case MAV_MOUNT_MODE_GPS_POINT: // neutral position and start to point to Lat,Lon,Alt
|
|
packet.pointing_a = _target_GPS_location.lat; ///< latitude
|
|
packet.pointing_b = _target_GPS_location.lng; ///< longitude
|
|
packet.pointing_c = _target_GPS_location.alt; ///< altitude
|
|
break;
|
|
case MAV_MOUNT_MODE_ENUM_END:
|
|
break;
|
|
}
|
|
|
|
// status reply
|
|
// TODO: is COMM_3 correct ?
|
|
mavlink_msg_mount_status_send(MAVLINK_COMM_3, packet.target_system, packet.target_component,
|
|
packet.pointing_a, packet.pointing_b, packet.pointing_c);
|
|
}
|
|
|
|
/// Set mount point/region of interest, triggered by mission script commands
|
|
void AP_Mount::set_roi_cmd(struct Location *target_loc)
|
|
{
|
|
// set the target gps location
|
|
_target_GPS_location = *target_loc;
|
|
|
|
// set the mode to GPS tracking mode
|
|
set_mode(MAV_MOUNT_MODE_GPS_POINT);
|
|
}
|
|
|
|
/// Set mount configuration, triggered by mission script commands
|
|
void AP_Mount::configure_cmd()
|
|
{
|
|
// TODO get the information out of the mission command and use it
|
|
}
|
|
|
|
/// Control the mount (depends on the previously set mount configuration), triggered by mission script commands
|
|
void AP_Mount::control_cmd()
|
|
{
|
|
// TODO get the information out of the mission command and use it
|
|
}
|
|
|
|
/// returns the angle (degrees*100) that the RC_Channel input is receiving
|
|
int32_t
|
|
AP_Mount::angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max)
|
|
{
|
|
return (rc->get_reverse()?-1:1) * (rc->radio_in - rc->radio_min) * (int32_t)(angle_max - angle_min) / (rc->radio_max - rc->radio_min) + (rc->get_reverse()?angle_max:angle_min);
|
|
}
|
|
|
|
/// returns the angle (radians) that the RC_Channel input is receiving
|
|
float
|
|
AP_Mount::angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max)
|
|
{
|
|
return radians(angle_input(rc, angle_min, angle_max)*0.01);
|
|
}
|
|
|
|
void
|
|
AP_Mount::calc_GPS_target_angle(struct Location *target)
|
|
{
|
|
float GPS_vector_x = (target->lng-_current_loc->lng)*cos(ToRad((_current_loc->lat+target->lat)*.00000005))*.01113195;
|
|
float GPS_vector_y = (target->lat-_current_loc->lat)*.01113195;
|
|
float GPS_vector_z = (target->alt-_current_loc->alt); // baro altitude(IN CM) should be adjusted to known home elevation before take off (Set altimeter).
|
|
float target_distance = 100.0*sqrt(GPS_vector_x*GPS_vector_x + GPS_vector_y*GPS_vector_y); // Careful , centimeters here locally. Baro/alt is in cm, lat/lon is in meters.
|
|
_roll_control_angle = 0;
|
|
_tilt_control_angle = atan2(GPS_vector_z, target_distance);
|
|
_pan_control_angle = atan2(GPS_vector_x, GPS_vector_y);
|
|
}
|
|
|
|
/// Stabilizes mount relative to the Earth's frame
|
|
/// Inputs:
|
|
/// _roll_control_angle desired roll angle in radians,
|
|
/// _tilt_control_angle desired tilt/pitch angle in radians,
|
|
/// _pan_control_angle desired pan/yaw angle in radians
|
|
/// Outputs:
|
|
/// _roll_angle stabilized roll angle in degrees,
|
|
/// _tilt_angle stabilized tilt/pitch angle in degrees,
|
|
/// _pan_angle stabilized pan/yaw angle in degrees
|
|
void
|
|
AP_Mount::stabilize()
|
|
{
|
|
if (_ahrs) {
|
|
// only do the full 3D frame transform if we are doing pan control
|
|
if (_stab_pan) {
|
|
Matrix3f m; ///< holds 3 x 3 matrix, var is used as temp in calcs
|
|
Matrix3f cam; ///< Rotation matrix earth to camera. Desired camera from input.
|
|
Matrix3f gimbal_target; ///< Rotation matrix from plane to camera. Then Euler angles to the servos.
|
|
m = _ahrs->get_dcm_matrix();
|
|
m.transpose();
|
|
cam.from_euler(_roll_control_angle, _tilt_control_angle, _pan_control_angle);
|
|
gimbal_target = m * cam;
|
|
gimbal_target.to_euler(&_roll_angle, &_tilt_angle, &_pan_angle);
|
|
_roll_angle = _stab_roll?degrees(_roll_angle):degrees(_roll_control_angle);
|
|
_tilt_angle = _stab_tilt?degrees(_tilt_angle):degrees(_tilt_control_angle);
|
|
_pan_angle = degrees(_pan_angle);
|
|
} else {
|
|
// otherwise base mount roll and tilt on the ahrs
|
|
// roll/tilt attitude, plus any requested angle
|
|
_roll_angle = degrees(_roll_control_angle);
|
|
_tilt_angle = degrees(_tilt_control_angle);
|
|
_pan_angle = degrees(_pan_control_angle);
|
|
if (_stab_roll) {
|
|
_roll_angle -= degrees(_ahrs->roll);
|
|
}
|
|
if (_stab_tilt) {
|
|
_tilt_angle -= degrees(_ahrs->pitch);
|
|
}
|
|
}
|
|
} else {
|
|
_roll_angle = degrees(_roll_control_angle);
|
|
_tilt_angle = degrees(_tilt_control_angle);
|
|
_pan_angle = degrees(_pan_control_angle);
|
|
}
|
|
}
|
|
/*
|
|
/// For testing and development. Called in the medium loop.
|
|
void
|
|
AP_Mount::debug_output()
|
|
{ Serial3.print("current - ");
|
|
Serial3.print("lat ");
|
|
Serial3.print(_current_loc->lat);
|
|
Serial3.print(",lon ");
|
|
Serial3.print(_current_loc->lng);
|
|
Serial3.print(",alt ");
|
|
Serial3.println(_current_loc->alt);
|
|
|
|
Serial3.print("gps - ");
|
|
Serial3.print("lat ");
|
|
Serial3.print(_gps->latitude);
|
|
Serial3.print(",lon ");
|
|
Serial3.print(_gps->longitude);
|
|
Serial3.print(",alt ");
|
|
Serial3.print(_gps->altitude);
|
|
Serial3.println();
|
|
|
|
Serial3.print("target - ");
|
|
Serial3.print("lat ");
|
|
Serial3.print(_target_GPS_location.lat);
|
|
Serial3.print(",lon ");
|
|
Serial3.print(_target_GPS_location.lng);
|
|
Serial3.print(",alt ");
|
|
Serial3.print(_target_GPS_location.alt);
|
|
Serial3.print(" hdg to targ ");
|
|
Serial3.print(degrees(_pan_control_angle));
|
|
Serial3.println();
|
|
}
|
|
*/
|
|
/// saturate to the closest angle limit if outside of [min max] angle interval
|
|
/// input angle is in degrees * 10
|
|
int16_t
|
|
AP_Mount::closest_limit(int16_t angle, int16_t* angle_min, int16_t* angle_max)
|
|
{
|
|
// Make sure the angle lies in the interval [-180 .. 180[ degrees
|
|
while (angle < -1800) angle += 3600;
|
|
while (angle >= 1800) angle -= 3600;
|
|
|
|
// Make sure the angle limits lie in the interval [-180 .. 180[ degrees
|
|
while (*angle_min < -1800) *angle_min += 3600;
|
|
while (*angle_min >= 1800) *angle_min -= 3600;
|
|
while (*angle_max < -1800) *angle_max += 3600;
|
|
while (*angle_max >= 1800) *angle_max -= 3600;
|
|
// TODO call this function somehow, otherwise this will never work
|
|
//set_range(min, max);
|
|
|
|
// If the angle is outside servo limits, saturate the angle to the closest limit
|
|
// On a circle the closest angular position must be carefully calculated to account for wrap-around
|
|
if ((angle < *angle_min) && (angle > *angle_max)){
|
|
// angle error if min limit is used
|
|
int16_t err_min = *angle_min - angle + (angle<*angle_min?0:3600); // add 360 degrees if on the "wrong side"
|
|
// angle error if max limit is used
|
|
int16_t err_max = angle - *angle_max + (angle>*angle_max?0:3600); // add 360 degrees if on the "wrong side"
|
|
angle = err_min<err_max?*angle_min:*angle_max;
|
|
}
|
|
|
|
return angle;
|
|
}
|
|
|
|
/// all angles are degrees * 10 units
|
|
void
|
|
AP_Mount::move_servo(RC_Channel* rc, int16_t angle, int16_t angle_min, int16_t angle_max)
|
|
{
|
|
if (rc) {
|
|
// saturate to the closest angle limit if outside of [min max] angle interval
|
|
rc->servo_out = closest_limit(angle, &angle_min, &angle_max);
|
|
// This is done every time because the user might change the min, max values on the fly
|
|
rc->set_range(angle_min, angle_max);
|
|
// convert angle to PWM using a linear transformation (ignores trimming because the servo limits might not be symmetric)
|
|
rc->calc_pwm();
|
|
rc->output();
|
|
}
|
|
}
|