mirror of https://github.com/ArduPilot/ardupilot
59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
SToRM32 mount backend class
|
|
*/
|
|
|
|
#ifndef __AP_MOUNT_STORM32_H__
|
|
#define __AP_MOUNT_STORM32_H__
|
|
|
|
#include <AP_HAL.h>
|
|
#include <AP_AHRS.h>
|
|
|
|
#include <AP_Math.h>
|
|
#include <AP_Common.h>
|
|
#include <AP_GPS.h>
|
|
#include <GCS_MAVLink.h>
|
|
#include <RC_Channel.h>
|
|
#include <AP_Mount_Backend.h>
|
|
|
|
#define AP_MOUNT_STORM32_SYSID 71 // hardcoded system id
|
|
#define AP_MOUNT_STORM32_COMPID 67 // hard coded component id for communicating with the gimbal
|
|
|
|
#define AP_MOUNT_STORM32_RESEND_MS 1000 // resend angle targets to gimbal once per second
|
|
|
|
class AP_Mount_SToRM32 : public AP_Mount_Backend
|
|
{
|
|
|
|
public:
|
|
// Constructor
|
|
AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
|
|
|
|
// init - performs any required initialisation for this instance
|
|
virtual void init(const AP_SerialManager& serial_manager);
|
|
|
|
// update mount position - should be called periodically
|
|
virtual void update();
|
|
|
|
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
|
|
virtual bool has_pan_control() const;
|
|
|
|
// set_mode - sets mount's mode
|
|
virtual void set_mode(enum MAV_MOUNT_MODE mode);
|
|
|
|
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
|
|
virtual void status_msg(mavlink_channel_t chan);
|
|
|
|
private:
|
|
|
|
// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message
|
|
void send_do_mount_control(float pitch_deg, float roll_deg, float yaw_deg, enum MAV_MOUNT_MODE mount_mode);
|
|
|
|
// internal variables
|
|
bool _initialised; // true once the driver has been initialised
|
|
mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal. Currently hard-coded to Telem2
|
|
uint32_t _last_send; // system time of last do_mount_control sent to gimbal
|
|
};
|
|
|
|
#endif // __AP_MOUNT_STORM32_H__
|