ardupilot/libraries/AP_Mount/AP_Mount_SoloGimbal.h

66 lines
1.9 KiB
C++

/*
MAVLink enabled mount backend class
*/
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include "AP_Mount_Backend.h"
#if HAL_SOLO_GIMBAL_ENABLED
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <RC_Channel/RC_Channel.h>
#include "SoloGimbal.h"
class AP_Mount_SoloGimbal : public AP_Mount_Backend
{
public:
// Constructor
AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount_Params &params, uint8_t instance);
// init - performs any required initialisation for this instance
void init() override;
// update mount position - should be called periodically
void update() override;
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
bool has_pan_control() const override { return false; }
// set_mode - sets mount's mode
void set_mode(enum MAV_MOUNT_MODE mode) override;
// handle a GIMBAL_REPORT message
void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) override;
void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_param_value(const mavlink_message_t &msg) override;
void update_fast() override;
protected:
// returns true if heart beat should be suppressed for this gimbal
bool suppress_heartbeat() const override { return true; }
// get attitude as a quaternion. returns true on success
bool get_attitude_quaternion(Quaternion& att_quat) override;
private:
// internal variables
bool _initialised; // true once the driver has been initialised
// Write a gimbal measurament and estimation data packet
void Log_Write_Gimbal(SoloGimbal &gimbal);
bool _params_saved;
MountTarget _angle_rad; // angle target
SoloGimbal _gimbal;
};
#endif // HAL_SOLO_GIMBAL_ENABLED