mirror of https://github.com/ArduPilot/ardupilot
135 lines
6.4 KiB
C++
135 lines
6.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/************************************************************
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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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* *
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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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#ifndef __AP_MOUNT_H__
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#define __AP_MOUNT_H__
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#include <AP_Math.h>
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#include <AP_Common.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <GCS_MAVLink.h>
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#include <RC_Channel.h>
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class AP_Mount
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{
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public:
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//Constructor
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AP_Mount(const struct Location *current_loc, GPS *&gps, const AP_AHRS &ahrs, uint8_t id);
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//enums
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enum MountType {
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k_unknown = 0, ///< unknown type
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k_pan_tilt = 1, ///< yaw-pitch
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k_tilt_roll = 2, ///< pitch-roll
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k_pan_tilt_roll = 3, ///< yaw-pitch-roll
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};
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// get_mode - return current mount mode
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enum MAV_MOUNT_MODE get_mode() const { return (enum MAV_MOUNT_MODE)_mount_mode.get(); }
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// set_mode_to_default - restores the mode to it's default held in the MNT_MODE parameter
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// this operation requires 2ms on an APM2, 0.7ms on a Pixhawk/PX4
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void set_mode_to_default() { _mount_mode.load(); }
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// MAVLink methods
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void configure_msg(mavlink_message_t* msg);
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void control_msg(mavlink_message_t* msg);
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void status_msg(mavlink_message_t* msg);
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void set_roi_cmd(const struct Location *target_loc);
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void configure_cmd();
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void control_cmd();
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// should be called periodically
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void update_mount_position();
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void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
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void debug_output(); ///< For testing and development. Called in the medium loop.
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// Accessors
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enum MountType get_mount_type() {
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return _mount_type;
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}
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// hook for eeprom variables
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static const struct AP_Param::GroupInfo var_info[];
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private:
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//methods
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void set_mode(enum MAV_MOUNT_MODE mode);
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void set_retract_angles(float roll, float tilt, float pan); ///< set mount retracted position
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void set_neutral_angles(float roll, float tilt, float pan);
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void set_control_angles(float roll, float tilt, float pan);
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void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
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// internal methods
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void calc_GPS_target_angle(const struct Location *target);
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void stabilize();
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int16_t closest_limit(int16_t angle, int16_t* angle_min, int16_t* angle_max);
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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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int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
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float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
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//members
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const AP_AHRS &_ahrs; ///< Rotation matrix from earth to plane.
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GPS *& _gps;
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const struct Location * _current_loc;
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struct Location _target_GPS_location;
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MountType _mount_type;
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uint8_t _roll_idx; ///< RC_Channel_aux mount roll function index
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uint8_t _tilt_idx; ///< RC_Channel_aux mount tilt function index
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uint8_t _pan_idx; ///< RC_Channel_aux mount pan function index
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uint8_t _open_idx; ///< RC_Channel_aux mount open function index
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float _roll_control_angle; ///< radians
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float _tilt_control_angle; ///< radians
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float _pan_control_angle; ///< radians
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float _roll_angle; ///< degrees
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float _tilt_angle; ///< degrees
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float _pan_angle; ///< degrees
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// EEPROM parameters
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AP_Int8 _stab_roll; ///< (1 = yes, 0 = no)
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AP_Int8 _stab_tilt; ///< (1 = yes, 0 = no)
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AP_Int8 _stab_pan; ///< (1 = yes, 0 = no)
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AP_Int8 _mount_mode;
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// RC_Channel for providing direct angular input from pilot
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AP_Int8 _roll_rc_in;
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AP_Int8 _tilt_rc_in;
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AP_Int8 _pan_rc_in;
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AP_Int16 _roll_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
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AP_Int16 _roll_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
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AP_Int16 _tilt_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
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AP_Int16 _tilt_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
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AP_Int16 _pan_angle_min; ///< min angle limit of actuated surface in 0.01 degree units
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AP_Int16 _pan_angle_max; ///< max angle limit of actuated surface in 0.01 degree units
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AP_Int8 _joystick_speed;
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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_Vector3f _control_angles; ///< GCS controlled position for mount, vector.x = roll vector.y = tilt, vector.z=pan
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};
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#endif // __AP_MOUNT_H__
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