mirror of https://github.com/ArduPilot/ardupilot
79 lines
3.0 KiB
C++
79 lines
3.0 KiB
C++
/*
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Servo controlled mount backend class
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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 <SRV_Channel/SRV_Channel.h>
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#include "AP_Mount_Backend.h"
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class AP_Mount_Servo : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Servo(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance):
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AP_Mount_Backend(frontend, state, instance),
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_roll_idx(SRV_Channel::k_none),
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_tilt_idx(SRV_Channel::k_none),
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_pan_idx(SRV_Channel::k_none),
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_open_idx(SRV_Channel::k_none),
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_last_check_servo_map_ms(0)
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{
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// init to no axis being controlled
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_flags.roll_control = false;
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_flags.tilt_control = false;
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_flags.pan_control = false;
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}
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// init - performs any required initialisation for this instance
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virtual void init(const AP_SerialManager& serial_manager);
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// update mount position - should be called periodically
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virtual void update();
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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 { return _flags.pan_control; }
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode);
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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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virtual void status_msg(mavlink_channel_t chan);
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private:
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// flags structure
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struct {
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bool roll_control :1; // true if mount has roll control
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bool tilt_control :1; // true if mount has tilt control
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bool pan_control :1; // true if mount has pan control
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} _flags;
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// check_servo_map - detects which axis we control (i.e. _flags) using the functions assigned to the servos in the SRV_Channel
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// should be called periodically (i.e. 1hz or less)
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void check_servo_map();
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// stabilize - stabilizes the mount relative to the Earth's frame
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void stabilize();
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// closest_limit - returns closest angle to 'angle' taking into account limits. all angles are in degrees * 10
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int16_t closest_limit(int16_t angle, int16_t angle_min, int16_t angle_max);
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/// move_servo - moves servo with the given id to the specified angle. all angles are in degrees * 10
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void move_servo(uint8_t rc, int16_t angle, int16_t angle_min, int16_t angle_max);
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// SRV_Channel - different id numbers are used depending upon the instance number
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SRV_Channel::Aux_servo_function_t _roll_idx; // SRV_Channel mount roll function index
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SRV_Channel::Aux_servo_function_t _tilt_idx; // SRV_Channel mount tilt function index
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SRV_Channel::Aux_servo_function_t _pan_idx; // SRV_Channel mount pan function index
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SRV_Channel::Aux_servo_function_t _open_idx; // SRV_Channel mount open function index
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Vector3f _angle_bf_output_deg; // final body frame output angle in degrees
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uint32_t _last_check_servo_map_ms; // system time of latest call to check_servo_map function
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};
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