mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 07:08:29 -04:00
53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
/*
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CADDX mount using serial protocol backend class
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*/
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#pragma once
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#include "AP_Mount_config.h"
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#if HAL_MOUNT_CADDX_ENABLED
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#include "AP_Mount_Backend_Serial.h"
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#include <AP_Math/quaternion.h>
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class AP_Mount_CADDX : public AP_Mount_Backend_Serial
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{
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public:
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// Constructor
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using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
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// update mount position - should be called periodically
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void update() override;
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// has_pan_control - returns true if this mount can control its pan (required for multicopters)
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bool has_pan_control() const override { return yaw_range_valid(); };
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// has_roll_control - returns true if this mount can control its roll
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bool has_roll_control() const override { return roll_range_valid(); };
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// has_pitch_control - returns true if this mount can control its tilt
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bool has_pitch_control() const override { return pitch_range_valid(); };
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protected:
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// get attitude as a quaternion. returns true on success
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bool get_attitude_quaternion(Quaternion& att_quat) override;
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private:
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// lock mode enum
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enum class LockMode {
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TILT_LOCK = (1<<0),
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ROLL_LOCK = (1<<1),
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YAW_LOCK = (1<<2),
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};
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// send_target_angles
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void send_target_angles(const MountTarget& angle_target_rad);
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// internal variables
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uint32_t _last_send_ms; // system time of last do_mount_control sent to gimbal
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};
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#endif // HAL_MOUNT_CADDX_ENABLED
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