mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
ace1fd8740
Previously we expected the mount to do this but it is likely that the first versions of MAVLink enable mounts will only be capable of pointing at a particular angle
73 lines
2.4 KiB
C++
73 lines
2.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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MAVLink enabled mount backend class
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*/
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#ifndef __AP_MOUNT_MAVLINK_H__
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#define __AP_MOUNT_MAVLINK_H__
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#include <AP_Math.h>
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#include <AP_Common.h>
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#include <AP_GPS.h>
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#include <AP_AHRS.h>
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#include <GCS_MAVLink.h>
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#include <RC_Channel.h>
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#include <AP_Mount_Backend.h>
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#define AP_MOUNT_MAVLINK_COMPID 10 // Use hard-coded component id to communicate with gimbal, sysid is taken from globally defined mavlink_system.sysid
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class AP_Mount_MAVLink : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_MAVLink(AP_Mount &frontend, uint8_t instance) :
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AP_Mount_Backend(frontend, instance),
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_enabled(false),
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_chan(MAVLINK_COMM_0),
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_last_mode(MAV_MOUNT_MODE_RETRACT)
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{}
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// init - performs any required initialisation for this instance
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virtual void init();
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// update mount position - should be called periodically
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virtual void update();
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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;
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode);
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// set_roi_target - sets target location that mount should attempt to point towards
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virtual void set_roi_target(const struct Location &target_loc);
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// configure_msg - process MOUNT_CONFIGURE messages received from GCS
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virtual void configure_msg(mavlink_message_t* msg);
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// control_msg - process MOUNT_CONTROL messages received from GCS
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virtual void control_msg(mavlink_message_t* msg);
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// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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virtual void status_msg(mavlink_channel_t chan);
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private:
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// find_mount - search for MAVLink enabled mount
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void find_mount();
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// send_angle_target - send earth-frame angle targets to mount
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// set target_in_degrees to true to send degree targets, false if target in radians
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void send_angle_target(const Vector3f& target, bool target_in_degrees);
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// internal variables
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bool _enabled; // gimbal becomes enabled once the mount has been discovered
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mavlink_channel_t _chan; // telemetry channel used to communicate with mount
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enum MAV_MOUNT_MODE _last_mode; // last mode sent to mount
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Vector3f _last_angle_target; // last angle target sent to mount
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};
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#endif // __AP_MOUNT_MAVLINK_H__
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