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ardupilot/libraries/AP_Mount/AP_Mount_Backend.cpp

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#include "AP_Mount_Backend.h"
#if HAL_MOUNT_ENABLED
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
#define AP_MOUNT_UPDATE_DT 0.02 // update rate in seconds. update() should be called at this rate
// set angle target in degrees
// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
void AP_Mount_Backend::set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame)
{
// set angle targets
mavt_target.target_type = MountTargetType::ANGLE;
mavt_target.angle_rad.roll = radians(roll_deg);
mavt_target.angle_rad.pitch = radians(pitch_deg);
mavt_target.angle_rad.yaw = radians(yaw_deg);
mavt_target.angle_rad.yaw_is_ef = yaw_is_earth_frame;
// set the mode to mavlink targeting
set_mode(MAV_MOUNT_MODE_MAVLINK_TARGETING);
}
// sets rate target in deg/s
// yaw_lock should be true if the yaw rate is earth-frame, false if body-frame (e.g. rotates with body of vehicle)
void AP_Mount_Backend::set_rate_target(float roll_degs, float pitch_degs, float yaw_degs, bool yaw_is_earth_frame)
{
// set rate targets
mavt_target.target_type = MountTargetType::RATE;
mavt_target.rate_rads.roll = radians(roll_degs);
mavt_target.rate_rads.pitch = radians(pitch_degs);
mavt_target.rate_rads.yaw = radians(yaw_degs);
mavt_target.rate_rads.yaw_is_ef = yaw_is_earth_frame;
// set the mode to mavlink targeting
set_mode(MAV_MOUNT_MODE_MAVLINK_TARGETING);
}
// set_roi_target - sets target location that mount should attempt to point towards
void AP_Mount_Backend::set_roi_target(const Location &target_loc)
{
// set the target gps location
_roi_target = target_loc;
_roi_target_set = true;
// set the mode to GPS tracking mode
set_mode(MAV_MOUNT_MODE_GPS_POINT);
}
// set_sys_target - sets system that mount should attempt to point towards
void AP_Mount_Backend::set_target_sysid(uint8_t sysid)
{
_target_sysid = sysid;
// set the mode to sysid tracking mode
set_mode(MAV_MOUNT_MODE_SYSID_TARGET);
}
// process MOUNT_CONFIGURE messages received from GCS. deprecated.
void AP_Mount_Backend::handle_mount_configure(const mavlink_mount_configure_t &packet)
{
set_mode((MAV_MOUNT_MODE)packet.mount_mode);
}
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
void AP_Mount_Backend::send_gimbal_device_attitude_status(mavlink_channel_t chan)
{
if (suppress_heartbeat()) {
// block heartbeat from transmitting to the GCS
GCS_MAVLINK::disable_channel_routing(chan);
}
Quaternion att_quat;
if (!get_attitude_quaternion(att_quat)) {
return;
}
// construct quaternion array
const float quat_array[4] = {att_quat.q1, att_quat.q2, att_quat.q3, att_quat.q4};
mavlink_msg_gimbal_device_attitude_status_send(chan,
0, // target system
0, // target component
AP_HAL::millis(), // autopilot system time
get_gimbal_device_flags(),
quat_array, // attitude expressed as quaternion
std::numeric_limits<double>::quiet_NaN(), // roll axis angular velocity (NaN for unknown)
std::numeric_limits<double>::quiet_NaN(), // pitch axis angular velocity (NaN for unknown)
std::numeric_limits<double>::quiet_NaN(), // yaw axis angular velocity (NaN for unknown)
0); // failure flags (not supported)
}
// process MOUNT_CONTROL messages received from GCS. deprecated.
void AP_Mount_Backend::handle_mount_control(const mavlink_mount_control_t &packet)
{
switch (get_mode()) {
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
// input_a : Pitch in centi-degrees
// input_b : Roll in centi-degrees
// input_c : Yaw in centi-degrees (interpreted as body-frame)
set_angle_target(packet.input_b * 0.01, packet.input_a * 0.01, packet.input_c * 0.01, false);
break;
case MAV_MOUNT_MODE_GPS_POINT: {
// input_a : lat in degE7
// input_b : lon in degE7
// input_c : alt in cm (interpreted as above home)
const Location target_location {
packet.input_a,
packet.input_b,
packet.input_c,
Location::AltFrame::ABOVE_HOME
};
set_roi_target(target_location);
break;
}
case MAV_MOUNT_MODE_RETRACT:
case MAV_MOUNT_MODE_NEUTRAL:
case MAV_MOUNT_MODE_RC_TARGETING:
case MAV_MOUNT_MODE_SYSID_TARGET:
case MAV_MOUNT_MODE_HOME_LOCATION:
default:
// no effect in these modes
break;
}
}
// handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success
MAV_RESULT AP_Mount_Backend::handle_command_do_mount_control(const mavlink_command_long_t &packet)
{
const MAV_MOUNT_MODE new_mode = (MAV_MOUNT_MODE)packet.param7;
// interpret message fields based on mode
switch (new_mode) {
case MAV_MOUNT_MODE_RETRACT:
case MAV_MOUNT_MODE_NEUTRAL:
case MAV_MOUNT_MODE_RC_TARGETING:
case MAV_MOUNT_MODE_HOME_LOCATION:
// simply set mode
set_mode(new_mode);
return MAV_RESULT_ACCEPTED;
case MAV_MOUNT_MODE_MAVLINK_TARGETING: {
// set body-frame target angles (in degrees) from mavlink message
const float pitch_deg = packet.param1; // param1: pitch (in degrees)
const float roll_deg = packet.param2; // param2: roll in degrees
const float yaw_deg = packet.param3; // param3: yaw in degrees
// warn if angles are invalid to catch angles sent in centi-degrees
if ((fabsf(pitch_deg) > 90) || (fabsf(roll_deg) > 180) || (fabsf(yaw_deg) > 360)) {
send_warning_to_GCS("invalid angle targets");
return MAV_RESULT_FAILED;
}
set_angle_target(packet.param2, packet.param1, packet.param3, false);
return MAV_RESULT_ACCEPTED;
}
case MAV_MOUNT_MODE_GPS_POINT: {
// set lat, lon, alt position targets from mavlink message
// warn if lat, lon appear to be in param1,2 instead of param5,6 as this indicates
// sender is relying on a bug in AP-4.2's (and earlier) handling of MAV_CMD_DO_MOUNT_CONTROL
if (!is_zero(packet.param1) && !is_zero(packet.param2) && is_zero(packet.param5) && is_zero(packet.param6)) {
send_warning_to_GCS("GPS_POINT target invalid");
return MAV_RESULT_FAILED;
}
// param4: altitude in meters
// param5: latitude in degrees * 1E7
// param6: longitude in degrees * 1E7
const Location target_location {
(int32_t)packet.param5, // latitude in degrees * 1E7
(int32_t)packet.param6, // longitude in degrees * 1E7
(int32_t)packet.param4 * 100, // alt converted from meters to cm
Location::AltFrame::ABOVE_HOME
};
set_roi_target(target_location);
return MAV_RESULT_ACCEPTED;
}
default:
// invalid mode
return MAV_RESULT_FAILED;
}
}
// handle a GLOBAL_POSITION_INT message
bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet)
{
if (_target_sysid != msg_sysid) {
return false;
}
_target_sysid_location.lat = packet.lat;
_target_sysid_location.lng = packet.lon;
// global_position_int.alt is *UP*, so is location.
_target_sysid_location.set_alt_cm(packet.alt*0.1, Location::AltFrame::ABSOLUTE);
_target_sysid_location_set = true;
return true;
}
// get pilot input (in the range -1 to +1) received through RC
void AP_Mount_Backend::get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const
{
const RC_Channel *roll_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_ROLL : RC_Channel::AUX_FUNC::MOUNT2_ROLL);
const RC_Channel *pitch_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_PITCH : RC_Channel::AUX_FUNC::MOUNT2_PITCH);
const RC_Channel *yaw_ch = rc().find_channel_for_option(_instance == 0 ? RC_Channel::AUX_FUNC::MOUNT1_YAW : RC_Channel::AUX_FUNC::MOUNT2_YAW);
roll_in = 0;
if ((roll_ch != nullptr) && (roll_ch->get_radio_in() > 0)) {
roll_in = roll_ch->norm_input_dz();
}
pitch_in = 0;
if ((pitch_ch != nullptr) && (pitch_ch->get_radio_in() > 0)) {
pitch_in = pitch_ch->norm_input_dz();
}
yaw_in = 0;
if ((yaw_ch != nullptr) && (yaw_ch->get_radio_in() > 0)) {
yaw_in = yaw_ch->norm_input_dz();
}
}
// get rate targets (in rad/s) from pilot RC
// returns true on success (RC is providing rate targets), false on failure (RC is providing angle targets)
bool AP_Mount_Backend::get_rc_rate_target(MountTarget& rate_rads) const
{
// exit immediately if RC is not providing rate targets
if (_params.rc_rate_max <= 0) {
return false;
}
// get RC input from pilot
float roll_in, pitch_in, yaw_in;
get_rc_input(roll_in, pitch_in, yaw_in);
// calculate rates
const float rc_rate_max_rads = radians(_params.rc_rate_max.get());
rate_rads.roll = roll_in * rc_rate_max_rads;
rate_rads.pitch = pitch_in * rc_rate_max_rads;
rate_rads.yaw = yaw_in * rc_rate_max_rads;
// yaw frame
rate_rads.yaw_is_ef = _yaw_lock;
return true;
}
// get angle targets (in radians) from pilot RC
// returns true on success (RC is providing angle targets), false on failure (RC is providing rate targets)
bool AP_Mount_Backend::get_rc_angle_target(MountTarget& angle_rad) const
{
// exit immediately if RC is not providing angle targets
if (_params.rc_rate_max > 0) {
return false;
}
// get RC input from pilot
float roll_in, pitch_in, yaw_in;
get_rc_input(roll_in, pitch_in, yaw_in);
// roll angle
angle_rad.roll = radians(((roll_in + 1.0f) * 0.5f * (_params.roll_angle_max - _params.roll_angle_min) + _params.roll_angle_min));
// pitch angle
angle_rad.pitch = radians(((pitch_in + 1.0f) * 0.5f * (_params.pitch_angle_max - _params.pitch_angle_min) + _params.pitch_angle_min));
// yaw angle
angle_rad.yaw_is_ef = _yaw_lock;
if (angle_rad.yaw_is_ef) {
// if yaw is earth-frame pilot yaw input control angle from -180 to +180 deg
angle_rad.yaw = yaw_in * M_PI;
} else {
// yaw target in body frame so apply body frame limits
angle_rad.yaw = radians(((yaw_in + 1.0f) * 0.5f * (_params.yaw_angle_max - _params.yaw_angle_min) + _params.yaw_angle_min));
}
return true;
}
// get angle targets (in radians) to a Location
// returns true on success, false on failure
bool AP_Mount_Backend::get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const
{
// exit immediately if vehicle's location is unavailable
Location current_loc;
if (!AP::ahrs().get_location(current_loc)) {
return false;
}
// exit immediate if location is invalid
if (!loc.initialised()) {
return false;
}
const float GPS_vector_x = Location::diff_longitude(loc.lng, current_loc.lng)*cosf(ToRad((current_loc.lat + loc.lat) * 0.00000005f)) * 0.01113195f;
const float GPS_vector_y = (loc.lat - current_loc.lat) * 0.01113195f;
int32_t target_alt_cm = 0;
if (!loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, target_alt_cm)) {
return false;
}
int32_t current_alt_cm = 0;
if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, current_alt_cm)) {
return false;
}
float GPS_vector_z = target_alt_cm - current_alt_cm;
float target_distance = 100.0f*norm(GPS_vector_x, GPS_vector_y); // Careful , centimeters here locally. Baro/alt is in cm, lat/lon is in meters.
// calculate roll, pitch, yaw angles
angle_rad.roll = 0;
angle_rad.pitch = atan2f(GPS_vector_z, target_distance);
angle_rad.yaw = atan2f(GPS_vector_x, GPS_vector_y);
angle_rad.yaw_is_ef = true;
return true;
}
// get angle targets (in radians) to ROI location
// returns true on success, false on failure
bool AP_Mount_Backend::get_angle_target_to_roi(MountTarget& angle_rad) const
{
if (!_roi_target_set) {
return false;
}
return get_angle_target_to_location(_roi_target, angle_rad);
}
// return body-frame yaw angle from a mount target
float AP_Mount_Backend::get_bf_yaw_angle(const MountTarget& angle_rad) const
{
if (angle_rad.yaw_is_ef) {
// convert to body-frame
return wrap_PI(angle_rad.yaw - AP::ahrs().yaw);
}
// target is already body-frame
return angle_rad.yaw;
}
// return earth-frame yaw angle from a mount target
float AP_Mount_Backend::get_ef_yaw_angle(const MountTarget& angle_rad) const
{
if (angle_rad.yaw_is_ef) {
// target is already earth-frame
return angle_rad.yaw;
}
// convert to earth-frame
return wrap_PI(angle_rad.yaw + AP::ahrs().yaw);
}
// update angle targets using a given rate target
// the resulting angle_rad yaw frame will match the rate_rad yaw frame
// assumes a 50hz update rate
void AP_Mount_Backend::update_angle_target_from_rate(const MountTarget& rate_rad, MountTarget& angle_rad) const
{
// update roll and pitch angles and apply limits
angle_rad.roll = constrain_float(angle_rad.roll + rate_rad.roll * AP_MOUNT_UPDATE_DT, radians(_params.roll_angle_min), radians(_params.roll_angle_max));
angle_rad.pitch = constrain_float(angle_rad.pitch + rate_rad.pitch * AP_MOUNT_UPDATE_DT, radians(_params.pitch_angle_min), radians(_params.pitch_angle_max));
// ensure angle yaw frames matches rate yaw frame
if (angle_rad.yaw_is_ef != rate_rad.yaw_is_ef) {
if (rate_rad.yaw_is_ef) {
angle_rad.yaw = get_ef_yaw_angle(angle_rad);
} else {
angle_rad.yaw = get_bf_yaw_angle(angle_rad);
}
angle_rad.yaw_is_ef = rate_rad.yaw_is_ef;
}
// update yaw angle target
angle_rad.yaw = angle_rad.yaw + rate_rad.yaw * AP_MOUNT_UPDATE_DT;
if (angle_rad.yaw_is_ef) {
// if earth-frame yaw wraps between += 180 degrees
angle_rad.yaw = wrap_PI(angle_rad.yaw);
} else {
// if body-frame constrain yaw to body-frame limits
angle_rad.yaw = constrain_float(angle_rad.yaw, radians(_params.yaw_angle_min), radians(_params.yaw_angle_max));
}
}
// helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message
uint16_t AP_Mount_Backend::get_gimbal_device_flags() const
{
const uint16_t flags = (get_mode() == MAV_MOUNT_MODE_RETRACT ? GIMBAL_DEVICE_FLAGS_RETRACT : 0) |
(get_mode() == MAV_MOUNT_MODE_NEUTRAL ? GIMBAL_DEVICE_FLAGS_NEUTRAL : 0) |
GIMBAL_DEVICE_FLAGS_ROLL_LOCK | // roll angle is always earth-frame
GIMBAL_DEVICE_FLAGS_PITCH_LOCK; // pitch angle is always earth-frame, yaw_angle is always body-frame
return flags;
}
// get angle targets (in radians) to home location
// returns true on success, false on failure
bool AP_Mount_Backend::get_angle_target_to_home(MountTarget& angle_rad) const
{
// exit immediately if home is not set
if (!AP::ahrs().home_is_set()) {
return false;
}
return get_angle_target_to_location(AP::ahrs().get_home(), angle_rad);
}
// get angle targets (in radians) to a vehicle with sysid of _target_sysid
// returns true on success, false on failure
bool AP_Mount_Backend::get_angle_target_to_sysid(MountTarget& angle_rad) const
{
// exit immediately if sysid is not set or no location available
if (!_target_sysid_location_set) {
return false;
}
if (!_target_sysid) {
return false;
}
return get_angle_target_to_location(_target_sysid_location, angle_rad);
}
// sent warning to GCS. Warnings are throttled to at most once every 30 seconds
void AP_Mount_Backend::send_warning_to_GCS(const char* warning_str)
{
uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_warning_ms < 30000) {
return;
}
gcs().send_text(MAV_SEVERITY_WARNING, "Mount: %s", warning_str);
_last_warning_ms = now_ms;
}
#endif // HAL_MOUNT_ENABLED
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