mirror of https://github.com/ArduPilot/ardupilot
186 lines
8.0 KiB
C++
186 lines
8.0 KiB
C++
/************************************************************
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* AP_mount -- library to control a 2 or 3 axis mount. *
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* *
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* Author: Joe Holdsworth; *
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* Ritchie Wilson; *
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* Amilcar Lucas; *
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* Gregory Fletcher; *
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* heavily modified by Randy Mackay *
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* *
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* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
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* Used for mount to track targets or stabilise *
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* camera plus other modes. *
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* *
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* Usage: Use in main code to control mounts attached to *
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* vehicle. *
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* *
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* Comments: All angles in degrees * 100, distances in meters*
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* unless otherwise stated. *
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************************************************************/
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#pragma once
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <DataFlash/DataFlash.h>
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// maximum number of mounts
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#define AP_MOUNT_MAX_INSTANCES 1
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// declare backend classes
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class AP_Mount_Backend;
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class AP_Mount_Servo;
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class AP_Mount_SoloGimbal;
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class AP_Mount_Alexmos;
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class AP_Mount_SToRM32;
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class AP_Mount_SToRM32_serial;
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/*
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This is a workaround to allow the MAVLink backend access to the
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SmallEKF. It would be nice to find a neater solution to this
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*/
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class AP_Mount
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{
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// declare backends as friends
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friend class AP_Mount_Backend;
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friend class AP_Mount_Servo;
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friend class AP_Mount_SoloGimbal;
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friend class AP_Mount_Alexmos;
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friend class AP_Mount_SToRM32;
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friend class AP_Mount_SToRM32_serial;
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public:
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// Enums
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enum MountType {
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Mount_Type_None = 0, /// no mount
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Mount_Type_Servo = 1, /// servo controlled mount
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Mount_Type_SoloGimbal = 2, /// Solo's gimbal
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Mount_Type_Alexmos = 3, /// Alexmos mount
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Mount_Type_SToRM32 = 4, /// SToRM32 mount using MAVLink protocol
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Mount_Type_SToRM32_serial = 5 /// SToRM32 mount using custom serial protocol
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};
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// Constructor
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AP_Mount(const AP_AHRS_TYPE &ahrs, const struct Location ¤t_loc);
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// init - detect and initialise all mounts
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void init(DataFlash_Class *dataflash, const AP_SerialManager& serial_manager);
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// update - give mount opportunity to update servos. should be called at 10hz or higher
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void update();
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// used for gimbals that need to read INS data at full rate
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void update_fast();
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// get_mount_type - returns the type of mount
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AP_Mount::MountType get_mount_type() const { return get_mount_type(_primary); }
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AP_Mount::MountType get_mount_type(uint8_t instance) const;
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// has_pan_control - returns true if the mount has yaw control (required for copters)
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bool has_pan_control() const { return has_pan_control(_primary); }
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bool has_pan_control(uint8_t instance) const;
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// get_mode - returns current mode of mount (i.e. Retracted, Neutral, RC_Targeting, GPS Point)
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enum MAV_MOUNT_MODE get_mode() const { return get_mode(_primary); }
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enum MAV_MOUNT_MODE get_mode(uint8_t instance) const;
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// set_mode - sets mount's mode
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// returns true if mode is successfully set
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void set_mode(enum MAV_MOUNT_MODE mode) { return set_mode(_primary, mode); }
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void set_mode(uint8_t instance, enum MAV_MOUNT_MODE mode);
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// set_mode_to_default - restores the mode to it's default mode held in the MNT_DEFLT_MODE parameter
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// this operation requires 60us on a Pixhawk/PX4
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void set_mode_to_default() { set_mode_to_default(_primary); }
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void set_mode_to_default(uint8_t instance);
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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) { set_angle_targets(_primary, roll, tilt, pan); }
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void set_angle_targets(uint8_t instance, 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) { set_roi_target(_primary,target_loc); }
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void set_roi_target(uint8_t instance, const struct Location &target_loc);
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// control - control the mount
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void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, enum MAV_MOUNT_MODE mount_mode) { control(_primary, pitch_or_lat, roll_or_lon, yaw_or_alt, mount_mode); }
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void control(uint8_t instance, int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, enum MAV_MOUNT_MODE mount_mode);
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// configure_msg - process MOUNT_CONFIGURE messages received from GCS
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void configure_msg(mavlink_message_t* msg) { configure_msg(_primary, msg); }
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void configure_msg(uint8_t instance, mavlink_message_t* msg);
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// control_msg - process MOUNT_CONTROL messages received from GCS
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void control_msg(mavlink_message_t* msg) { control_msg(_primary, msg); }
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void control_msg(uint8_t instance, mavlink_message_t* msg);
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// handle a PARAM_VALUE message
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void handle_param_value(mavlink_message_t *msg);
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// handle a GIMBAL_REPORT message
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void handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg);
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// send a GIMBAL_REPORT message to GCS
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void send_gimbal_report(mavlink_channel_t chan);
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// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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void status_msg(mavlink_channel_t chan);
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// parameter var table
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// private members
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const AP_AHRS_TYPE &_ahrs;
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const struct Location &_current_loc; // reference to the vehicle's current location
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// frontend parameters
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AP_Int8 _joystick_speed; // joystick gain
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// front end members
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uint8_t _num_instances; // number of mounts instantiated
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uint8_t _primary; // primary mount
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AP_Mount_Backend *_backends[AP_MOUNT_MAX_INSTANCES]; // pointers to instantiated mounts
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// backend state including parameters
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struct mount_state {
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// Parameters
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AP_Int8 _type; // mount type (None, Servo or MAVLink, see MountType enum)
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AP_Int8 _default_mode; // default mode on startup and when control is returned from autopilot
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AP_Int8 _stab_roll; // 1 = mount should stabilize earth-frame roll axis, 0 = no stabilization
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AP_Int8 _stab_tilt; // 1 = mount should stabilize earth-frame pitch axis
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AP_Int8 _stab_pan; // 1 = mount should stabilize earth-frame yaw axis
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// RC input channels from receiver used for direct angular input from pilot
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AP_Int8 _roll_rc_in; // pilot provides roll input on this channel
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AP_Int8 _tilt_rc_in; // pilot provides tilt input on this channel
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AP_Int8 _pan_rc_in; // pilot provides pan input on this channel
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// Mount's physical limits
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AP_Int16 _roll_angle_min; // min roll in 0.01 degree units
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AP_Int16 _roll_angle_max; // max roll in 0.01 degree units
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AP_Int16 _tilt_angle_min; // min tilt in 0.01 degree units
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AP_Int16 _tilt_angle_max; // max tilt in 0.01 degree units
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AP_Int16 _pan_angle_min; // min pan in 0.01 degree units
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AP_Int16 _pan_angle_max; // max pan in 0.01 degree units
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AP_Vector3f _retract_angles; // retracted position for mount, vector.x = roll vector.y = tilt, vector.z=pan
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AP_Vector3f _neutral_angles; // neutral position for mount, vector.x = roll vector.y = tilt, vector.z=pan
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AP_Float _roll_stb_lead; // roll lead control gain
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AP_Float _pitch_stb_lead; // pitch lead control gain
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MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
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struct Location _roi_target; // roi target location
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} state[AP_MOUNT_MAX_INSTANCES];
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DataFlash_Class *_dataflash;
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};
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