mirror of https://github.com/ArduPilot/ardupilot
125 lines
4.3 KiB
C++
125 lines
4.3 KiB
C++
#include "AP_Mount_Scripting.h"
|
|
|
|
#if HAL_MOUNT_SCRIPTING_ENABLED
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
#define AP_MOUNT_SCRIPTING_TIMEOUT_MS 1000 // scripting mount becomes unhealthy after 1sec with no updates
|
|
|
|
#define AP_MOUNT_SCRIPTING_DEBUG 0
|
|
#define debug(fmt, args ...) do { if (AP_MOUNT_SCRIPTING_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Siyi: " fmt, ## args); } } while (0)
|
|
|
|
// update mount position - should be called periodically
|
|
void AP_Mount_Scripting::update()
|
|
{
|
|
// update based on mount mode
|
|
switch (get_mode()) {
|
|
// move mount to a "retracted" position. To-Do: remove support and replace with a relaxed mode?
|
|
case MAV_MOUNT_MODE_RETRACT: {
|
|
const Vector3f &angle_bf_target = _params.retract_angles.get();
|
|
mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
|
|
mnt_target.target_type = MountTargetType::ANGLE;
|
|
target_loc_valid = false;
|
|
break;
|
|
}
|
|
|
|
// move mount to a neutral position, typically pointing forward
|
|
case MAV_MOUNT_MODE_NEUTRAL: {
|
|
const Vector3f &angle_bf_target = _params.neutral_angles.get();
|
|
mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
|
|
mnt_target.target_type = MountTargetType::ANGLE;
|
|
target_loc_valid = false;
|
|
break;
|
|
}
|
|
|
|
// point to the angles given by a mavlink message
|
|
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
|
|
// mavlink targets should have been already stored while handling the message
|
|
target_loc_valid = false;
|
|
break;
|
|
|
|
// RC radio manual angle control, but with stabilization from the AHRS
|
|
case MAV_MOUNT_MODE_RC_TARGETING: {
|
|
// update targets using pilot's RC inputs
|
|
MountTarget rc_target;
|
|
get_rc_target(mnt_target.target_type, rc_target);
|
|
switch (mnt_target.target_type) {
|
|
case MountTargetType::ANGLE:
|
|
mnt_target.angle_rad = rc_target;
|
|
break;
|
|
case MountTargetType::RATE:
|
|
mnt_target.rate_rads = rc_target;
|
|
break;
|
|
}
|
|
target_loc_valid = false;
|
|
break;
|
|
}
|
|
|
|
// point mount to a GPS point given by the mission planner
|
|
case MAV_MOUNT_MODE_GPS_POINT:
|
|
if (get_angle_target_to_roi(mnt_target.angle_rad)) {
|
|
mnt_target.target_type = MountTargetType::ANGLE;
|
|
}
|
|
break;
|
|
|
|
// point mount to Home location
|
|
case MAV_MOUNT_MODE_HOME_LOCATION:
|
|
if (get_angle_target_to_home(mnt_target.angle_rad)) {
|
|
mnt_target.target_type = MountTargetType::ANGLE;
|
|
}
|
|
break;
|
|
|
|
// point mount to another vehicle
|
|
case MAV_MOUNT_MODE_SYSID_TARGET:
|
|
if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
|
|
mnt_target.target_type = MountTargetType::ANGLE;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
// we do not know this mode so raise internal error
|
|
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
|
break;
|
|
}
|
|
}
|
|
|
|
// return true if healthy
|
|
bool AP_Mount_Scripting::healthy() const
|
|
{
|
|
// healthy if scripting backend has updated actual angles recently
|
|
return (AP_HAL::millis() - last_update_ms <= AP_MOUNT_SCRIPTING_TIMEOUT_MS);
|
|
}
|
|
|
|
// return target location if available
|
|
// returns true if a target location is available and fills in target_loc argument
|
|
bool AP_Mount_Scripting::get_location_target(Location &_target_loc)
|
|
{
|
|
if (target_loc_valid) {
|
|
_target_loc = target_loc;
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// update mount's actual angles (to be called by script communicating with mount)
|
|
void AP_Mount_Scripting::set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg)
|
|
{
|
|
last_update_ms = AP_HAL::millis();
|
|
current_angle_deg.x = roll_deg;
|
|
current_angle_deg.y = pitch_deg;
|
|
current_angle_deg.z = yaw_bf_deg;
|
|
}
|
|
|
|
// get attitude as a quaternion. returns true on success
|
|
bool AP_Mount_Scripting::get_attitude_quaternion(Quaternion& att_quat)
|
|
{
|
|
// construct quaternion
|
|
att_quat.from_euler(radians(current_angle_deg.x), radians(current_angle_deg.y), radians(current_angle_deg.z));
|
|
return true;
|
|
}
|
|
|
|
#endif // HAL_MOUNT_SCRIPTING_ENABLED
|