mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.8 KiB
C++
60 lines
1.8 KiB
C++
/*
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SToRM32 mount backend class
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*/
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#pragma once
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#include "AP_Mount_Backend.h"
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#ifndef HAL_MOUNT_STORM32MAVLINK_ENABLED
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#define HAL_MOUNT_STORM32MAVLINK_ENABLED HAL_MOUNT_ENABLED
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#endif
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#if HAL_MOUNT_STORM32MAVLINK_ENABLED
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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 <RC_Channel/RC_Channel.h>
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#include <AP_AHRS/AP_AHRS.h>
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class AP_Mount_SToRM32 : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount_Params ¶ms, uint8_t instance);
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// init - performs any required initialisation for this instance
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void init() override {}
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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 it's pan (required for multicopters)
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bool has_pan_control() const override { return yaw_range_valid(); }
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// set_mode - sets mount's mode
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void set_mode(enum MAV_MOUNT_MODE mode) override;
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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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// search for gimbal in GCS_MAVLink routing table
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void find_gimbal();
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// send_do_mount_control with latest angle targets
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void send_do_mount_control(const MountTarget& angle_target_rad);
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// internal variables
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bool _initialised; // true once the driver has been initialised
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uint8_t _sysid; // sysid of gimbal
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uint8_t _compid; // component id of gimbal
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mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal
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uint32_t _last_send; // system time of last do_mount_control sent to gimbal
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MountTarget _angle_rad; // latest angle target
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};
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#endif // HAL_MOUNT_STORM32MAVLINK_ENABLED
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