mirror of https://github.com/ArduPilot/ardupilot
64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
/*
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MAVLink enabled mount backend class
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#if AP_AHRS_NAVEKF_AVAILABLE
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <RC_Channel/RC_Channel.h>
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#include "AP_Mount_Backend.h"
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#include "SoloGimbal.h"
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class AP_Mount_SoloGimbal : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
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// init - performs any required initialisation for this instance
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virtual void init(const AP_SerialManager& serial_manager) override;
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// update mount position - should be called periodically
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virtual void update() override;
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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virtual bool has_pan_control() const override;
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode) override;
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// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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virtual void send_mount_status(mavlink_channel_t chan) override;
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// handle a GIMBAL_REPORT message
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void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg) override;
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void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t *msg);
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void handle_param_value(const mavlink_message_t *msg) override;
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// send a GIMBAL_REPORT message to the GCS
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void send_gimbal_report(mavlink_channel_t chan) override;
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virtual void update_fast() override;
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private:
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// internal variables
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bool _initialised; // true once the driver has been initialised
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// Write a gimbal measurament and estimation data packet
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void Log_Write_Gimbal(SoloGimbal &gimbal);
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bool _params_saved;
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SoloGimbal _gimbal;
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};
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#endif // AP_AHRS_NAVEKF_AVAILABLE
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