mirror of https://github.com/ArduPilot/ardupilot
150 lines
4.1 KiB
C++
150 lines
4.1 KiB
C++
/************************************************************
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* SoloGimbal -- library to control a 3 axis rate gimbal. *
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* *
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* Author: Arthur Benemann, Paul Riseborough; *
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* *
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************************************************************/
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#pragma once
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#include <AP_HAL/AP_HAL_Boards.h>
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#include "AP_Mount.h"
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#if HAL_SOLO_GIMBAL_ENABLED
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#include "SoloGimbalEKF.h"
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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 <AP_AccelCal/AP_AccelCal.h>
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#include "SoloGimbal_Parameters.h"
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enum gimbal_state_t {
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GIMBAL_STATE_NOT_PRESENT = 0,
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GIMBAL_STATE_PRESENT_INITIALIZING,
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GIMBAL_STATE_PRESENT_ALIGNING,
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GIMBAL_STATE_PRESENT_RUNNING
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};
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enum gimbal_mode_t {
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GIMBAL_MODE_IDLE = 0,
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GIMBAL_MODE_POS_HOLD,
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GIMBAL_MODE_POS_HOLD_FF,
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GIMBAL_MODE_STABILIZE
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};
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class SoloGimbal : AP_AccelCal_Client
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{
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public:
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//Constructor
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SoloGimbal() :
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_ekf(),
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_state(GIMBAL_STATE_NOT_PRESENT),
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_vehicle_yaw_rate_ef_filt(0.0f),
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_vehicle_to_gimbal_quat(),
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_vehicle_to_gimbal_quat_filt(),
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_filtered_joint_angles(),
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_last_report_msg_ms(0),
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_max_torque(5000.0f),
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_ang_vel_mag_filt(0),
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_lockedToBody(false),
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_log_dt(0),
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_log_del_ang(),
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_log_del_vel()
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{
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#if HAL_INS_ACCELCAL_ENABLED
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AP_AccelCal::register_client(this);
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#endif
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}
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void update_target(const Vector3f &newTarget);
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void receive_feedback(mavlink_channel_t chan, const mavlink_message_t &msg);
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void update_fast();
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bool present();
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bool aligned();
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void set_lockedToBody(bool val) { _lockedToBody = val; }
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void write_logs();
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float get_log_dt() const { return _log_dt; }
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void disable_torque_report() { _gimbalParams.set_param(GMB_PARAM_GMB_SND_TORQUE, 0); }
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void fetch_params() { _gimbalParams.fetch_params(); }
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void handle_param_value(const mavlink_message_t &msg) {
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_gimbalParams.handle_param_value(msg);
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}
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private:
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// private methods
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void update_estimators();
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void send_controls(mavlink_channel_t chan);
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void extract_feedback(const mavlink_gimbal_report_t& report_msg);
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void update_joint_angle_est();
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Vector3f get_ang_vel_dem_yaw(const Quaternion &quatEst);
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Vector3f get_ang_vel_dem_roll_tilt(const Quaternion &quatEst);
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Vector3f get_ang_vel_dem_feedforward(const Quaternion &quatEst) const;
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Vector3f get_ang_vel_dem_gyro_bias();
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Vector3f get_ang_vel_dem_body_lock();
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void gimbal_ang_vel_to_joint_rates(const Vector3f& ang_vel, Vector3f& joint_rates) const;
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void joint_rates_to_gimbal_ang_vel(const Vector3f& joint_rates, Vector3f& ang_vel) const;
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void readVehicleDeltaAngle(uint8_t ins_index, Vector3f &dAng);
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void _acal_save_calibrations() override;
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bool _acal_get_ready_to_sample() override;
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bool _acal_get_saving() override;
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AccelCalibrator* _acal_get_calibrator(uint8_t instance) override;
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gimbal_mode_t get_mode();
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bool joints_near_limits() const;
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// private member variables
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SoloGimbalEKF _ekf; // state of small EKF for gimbal
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gimbal_state_t _state;
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struct {
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float delta_time;
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Vector3f delta_angles;
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Vector3f delta_velocity;
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Vector3f joint_angles;
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} _measurement;
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float _vehicle_yaw_rate_ef_filt;
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static const uint8_t _compid = MAV_COMP_ID_GIMBAL;
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// joint angle filter states
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Vector3f _vehicle_delta_angles;
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Quaternion _vehicle_to_gimbal_quat;
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Quaternion _vehicle_to_gimbal_quat_filt;
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Vector3f _filtered_joint_angles;
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uint32_t _last_report_msg_ms;
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float _max_torque;
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float _ang_vel_mag_filt;
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Vector3f _ang_vel_dem_rads; // rad/s
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Vector3f _att_target_euler_rad; // desired earth-frame roll, tilt and pan angles in radians
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bool _lockedToBody;
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SoloGimbal_Parameters _gimbalParams;
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AccelCalibrator _calibrator;
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float _log_dt;
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Vector3f _log_del_ang;
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Vector3f _log_del_vel;
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};
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#endif // HAL_SOLO_GIMBAL_ENABLED
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