ardupilot/libraries/AP_Mount/AP_Mount_Backend.h

100 lines
3.9 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
Mount driver backend class. Each supported mount type
needs to have an object derived from this class.
*/
#pragma once
#include <AP_Common/AP_Common.h>
#include "AP_Mount.h"
class AP_Mount_Backend
{
public:
// Constructor
AP_Mount_Backend(AP_Mount &frontend, AP_Mount::mount_state& state, uint8_t instance) :
_frontend(frontend),
_state(state),
_instance(instance)
{}
// Virtual destructor
virtual ~AP_Mount_Backend(void) {}
// init - performs any required initialisation for this instance
virtual void init(const AP_SerialManager& serial_manager) = 0;
// update mount position - should be called periodically
virtual void update() = 0;
// used for gimbals that need to read INS data at full rate
virtual void update_fast() {}
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
virtual bool has_pan_control() const = 0;
// set_mode - sets mount's mode
virtual void set_mode(enum MAV_MOUNT_MODE mode) = 0;
// set_angle_targets - sets angle targets in degrees
virtual void set_angle_targets(float roll, float tilt, float pan);
// set_roi_target - sets target location that mount should attempt to point towards
virtual void set_roi_target(const struct Location &target_loc);
// control - control the mount
virtual void control(int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode);
// configure_msg - process MOUNT_CONFIGURE messages received from GCS
virtual void configure_msg(mavlink_message_t* msg);
// control_msg - process MOUNT_CONTROL messages received from GCS
virtual void control_msg(mavlink_message_t* msg);
// status_msg - called to allow mounts to send their status to GCS via MAVLink
virtual void status_msg(mavlink_channel_t chan) {}
// handle a GIMBAL_REPORT message
virtual void handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg) {}
// handle a PARAM_VALUE message
virtual void handle_param_value(mavlink_message_t *msg) {}
// send a GIMBAL_REPORT message to the GCS
virtual void send_gimbal_report(mavlink_channel_t chan) {}
protected:
// update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver
void update_targets_from_rc();
// angle_input, angle_input_rad - convert RC input into an earth-frame target angle
int32_t angle_input(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
float angle_input_rad(RC_Channel* rc, int16_t angle_min, int16_t angle_max);
// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target
void calc_angle_to_location(const struct Location &target, Vector3f& angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan = true);
// get the mount mode from frontend
MAV_MOUNT_MODE get_mode(void) const { return _frontend.get_mode(_instance); }
AP_Mount &_frontend; // reference to the front end which holds parameters
AP_Mount::mount_state &_state; // references to the parameters and state for this backend
uint8_t _instance; // this instance's number
Vector3f _angle_ef_target_rad; // desired earth-frame roll, tilt and vehicle-relative pan angles in radians
};