mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*
|
|
MAVLink enabled mount backend class
|
|
*/
|
|
#pragma once
|
|
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
|
|
#include "AP_Mount_Backend.h"
|
|
#if HAL_SOLO_GIMBAL_ENABLED
|
|
#include <AP_Math/AP_Math.h>
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <GCS_MAVLink/GCS_MAVLink.h>
|
|
#include <RC_Channel/RC_Channel.h>
|
|
#include "SoloGimbal.h"
|
|
|
|
|
|
class AP_Mount_SoloGimbal : public AP_Mount_Backend
|
|
{
|
|
|
|
public:
|
|
// Constructor
|
|
AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount_Params ¶ms, uint8_t instance);
|
|
|
|
// init - performs any required initialisation for this instance
|
|
void init() override;
|
|
|
|
// update mount position - should be called periodically
|
|
void update() override;
|
|
|
|
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
|
|
bool has_pan_control() const override { return false; }
|
|
|
|
// set_mode - sets mount's mode
|
|
void set_mode(enum MAV_MOUNT_MODE mode) override;
|
|
|
|
// handle a GIMBAL_REPORT message
|
|
void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) override;
|
|
void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg);
|
|
void handle_param_value(const mavlink_message_t &msg) override;
|
|
|
|
void update_fast() override;
|
|
|
|
protected:
|
|
|
|
// returns true if heart beat should be suppressed for this gimbal
|
|
bool suppress_heartbeat() const override { return true; }
|
|
|
|
// get attitude as a quaternion. returns true on success
|
|
bool get_attitude_quaternion(Quaternion& att_quat) override;
|
|
|
|
private:
|
|
// internal variables
|
|
bool _initialised; // true once the driver has been initialised
|
|
|
|
// Write a gimbal measurament and estimation data packet
|
|
void Log_Write_Gimbal(SoloGimbal &gimbal);
|
|
|
|
bool _params_saved;
|
|
MountTarget _angle_rad; // angle target
|
|
SoloGimbal _gimbal;
|
|
};
|
|
|
|
#endif // HAL_SOLO_GIMBAL_ENABLED
|