mirror of https://github.com/ArduPilot/ardupilot
131 lines
5.1 KiB
C++
131 lines
5.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Mount driver backend class. Each supported mount type
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needs to have an object derived from this class.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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#include "AP_Mount.h"
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#if HAL_MOUNT_ENABLED
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#include <RC_Channel/RC_Channel.h>
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class AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Backend(AP_Mount &frontend, AP_Mount::mount_state& state, uint8_t instance) :
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_frontend(frontend),
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_state(state),
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_instance(instance)
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{}
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// Virtual destructor
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virtual ~AP_Mount_Backend(void) {}
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// init - performs any required initialisation for this instance
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virtual void init() = 0;
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// update mount position - should be called periodically
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virtual void update() = 0;
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// used for gimbals that need to read INS data at full rate
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virtual void update_fast() {}
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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virtual bool has_pan_control() const = 0;
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode) = 0;
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// set_angle_targets - sets angle targets in degrees
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void set_angle_targets(float roll, float tilt, float pan);
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// set_roi_target - sets target location that mount should attempt to point towards
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void set_roi_target(const struct Location &target_loc);
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// set_sys_target - sets system that mount should attempt to point towards
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void set_target_sysid(uint8_t sysid);
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// control - control the mount
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virtual void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode);
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// process MOUNT_CONFIGURE messages received from GCS:
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void handle_mount_configure(const mavlink_mount_configure_t &msg);
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// process MOUNT_CONTROL messages received from GCS:
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void handle_mount_control(const mavlink_mount_control_t &packet);
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// send_mount_status - called to allow mounts to send their status to GCS via MAVLink
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virtual void send_mount_status(mavlink_channel_t chan) = 0;
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// handle a GIMBAL_REPORT message
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virtual void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) {}
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// handle a PARAM_VALUE message
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virtual void handle_param_value(const mavlink_message_t &msg) {}
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// send a GIMBAL_REPORT message to the GCS
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virtual void send_gimbal_report(const mavlink_channel_t chan) {}
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protected:
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// update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver
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void update_targets_from_rc();
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// angle_input_rad - convert RC input into an earth-frame target angle
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float angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max);
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// calc_angle_to_location - calculates the earth-frame roll, tilt
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// and pan angles (and radians) to point at the given target
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bool calc_angle_to_location(const struct Location &target,
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Vector3f& angles_to_target_rad,
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bool calc_tilt,
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bool calc_pan,
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bool relative_pan = true) const WARN_IF_UNUSED;
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// calc_angle_to_roi_target - calculates the earth-frame roll, tilt
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// and pan angles (and radians) to point at the ROI-target (as set
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// by various mavlink messages)
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bool calc_angle_to_roi_target(Vector3f& angles_to_target_rad,
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bool calc_tilt,
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bool calc_pan,
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bool relative_pan = true) const WARN_IF_UNUSED;
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// calc_angle_to_sysid_target - calculates the earth-frame roll, tilt
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// and pan angles (and radians) to point at the sysid-target (as set
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// by various mavlink messages)
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bool calc_angle_to_sysid_target(Vector3f& angles_to_target_rad,
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bool calc_tilt,
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bool calc_pan,
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bool relative_pan = true) const WARN_IF_UNUSED;
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// get the mount mode from frontend
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MAV_MOUNT_MODE get_mode(void) const { return _frontend.get_mode(_instance); }
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AP_Mount &_frontend; // reference to the front end which holds parameters
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AP_Mount::mount_state &_state; // references to the parameters and state for this backend
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uint8_t _instance; // this instance's number
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Vector3f _angle_ef_target_rad; // desired earth-frame roll, tilt and vehicle-relative pan angles in radians
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private:
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void rate_input_rad(float &out, const RC_Channel *ch, float min, float max) const;
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};
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#endif // HAL_MOUNT_ENABLED
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