mirror of https://github.com/ArduPilot/ardupilot
255 lines
11 KiB
C++
255 lines
11 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Mount driver backend class. Each supported mount type
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needs to have an object derived from this class.
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*/
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#pragma once
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#include "AP_Mount_config.h"
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#if HAL_MOUNT_ENABLED
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_Common/Location.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Camera/AP_Camera_shareddefs.h>
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#include "AP_Mount_Params.h"
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class AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Backend(class AP_Mount &frontend, class AP_Mount_Params ¶ms, uint8_t instance) :
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_frontend(frontend),
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_params(params),
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_instance(instance)
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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() = 0;
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// used for gimbals that need to read INS data at full rate
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virtual void update_fast() {}
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// return true if healthy
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virtual bool healthy() const { return true; }
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// return true if this mount accepts roll or pitch targets
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virtual bool has_roll_control() const;
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virtual bool has_pitch_control() const;
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// returns true if this mount can control its pan (required for multicopters)
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virtual bool has_pan_control() const = 0;
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// get attitude as a quaternion. returns true on success.
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// att_quat will be an earth-frame quaternion rotated such that
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// yaw is in body-frame.
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virtual bool get_attitude_quaternion(Quaternion& att_quat) = 0;
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// get mount's mode
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enum MAV_MOUNT_MODE get_mode() const { return _mode; }
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// set mount's mode
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void set_mode(enum MAV_MOUNT_MODE mode) { _mode = mode; }
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// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
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// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
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void set_yaw_lock(bool yaw_lock) { _yaw_lock = yaw_lock; }
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// set angle target in degrees
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// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
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void set_angle_target(float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame);
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// sets rate target in deg/s
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// yaw_lock should be true if the yaw rate is earth-frame, false if body-frame (e.g. rotates with body of vehicle)
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void set_rate_target(float roll_degs, float pitch_degs, float yaw_degs, bool yaw_is_earth_frame);
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// set_roi_target - sets target location that mount should attempt to point towards
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void set_roi_target(const Location &target_loc);
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// clear_roi_target - clears target location that mount should attempt to point towards
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void clear_roi_target();
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// set_sys_target - sets system that mount should attempt to point towards
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void set_target_sysid(uint8_t sysid);
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// handle do_mount_control command. Returns MAV_RESULT_ACCEPTED on success
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MAV_RESULT handle_command_do_mount_control(const mavlink_command_long_t &packet);
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// handle do_gimbal_manager_configure. Returns MAV_RESULT_ACCEPTED on success
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// requires original message in order to extract caller's sysid and compid
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MAV_RESULT handle_command_do_gimbal_manager_configure(const mavlink_command_long_t &packet, const mavlink_message_t &msg);
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// process MOUNT_CONFIGURE messages received from GCS. deprecated.
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void handle_mount_configure(const mavlink_mount_configure_t &msg);
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// process MOUNT_CONTROL messages received from GCS. deprecated.
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void handle_mount_control(const mavlink_mount_control_t &packet);
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// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
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void send_gimbal_device_attitude_status(mavlink_channel_t chan);
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// return gimbal capabilities sent to GCS in the GIMBAL_MANAGER_INFORMATION
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virtual uint32_t get_gimbal_manager_capability_flags() const;
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// send a GIMBAL_MANAGER_INFORMATION message to GCS
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void send_gimbal_manager_information(mavlink_channel_t chan);
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// send a GIMBAL_MANAGER_STATUS message to GCS
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void send_gimbal_manager_status(mavlink_channel_t chan);
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// handle a GIMBAL_REPORT message
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virtual void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) {}
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// handle a PARAM_VALUE message
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virtual void handle_param_value(const mavlink_message_t &msg) {}
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// handle a GLOBAL_POSITION_INT message
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bool handle_global_position_int(uint8_t msg_sysid, const mavlink_global_position_int_t &packet);
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// handle GIMBAL_DEVICE_INFORMATION message
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virtual void handle_gimbal_device_information(const mavlink_message_t &msg) {}
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// handle GIMBAL_DEVICE_ATTITUDE_STATUS message
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virtual void handle_gimbal_device_attitude_status(const mavlink_message_t &msg) {}
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// accessors for scripting backends
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virtual bool get_rate_target(float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame) { return false; }
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virtual bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame) { return false; }
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virtual bool get_location_target(Location &target_loc) { return false; }
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virtual void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) {};
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//
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// camera controls for gimbals that include a camera
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//
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// take a picture. returns true on success
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virtual bool take_picture() { return false; }
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// start or stop video recording. returns true on success
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// set start_recording = true to start record, false to stop recording
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virtual bool record_video(bool start_recording) { return false; }
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// set zoom specified as a rate or percentage
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virtual bool set_zoom(ZoomType zoom_type, float zoom_value) { return false; }
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// set focus specified as rate, percentage or auto
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// focus in = -1, focus hold = 0, focus out = 1
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virtual bool set_focus(FocusType focus_type, float focus_value) { return false; }
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protected:
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enum class MountTargetType {
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ANGLE,
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RATE,
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};
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// structure for a single angle or rate target
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struct MountTarget {
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float roll;
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float pitch;
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float yaw;
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bool yaw_is_ef;
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// return body-frame yaw angle from a mount target (in radians)
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float get_bf_yaw() const;
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// return earth-frame yaw angle from a mount target (in radians)
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float get_ef_yaw() const;
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};
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// returns true if user has configured a valid yaw angle range
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// allows user to disable yaw even on 3-axis gimbal
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bool yaw_range_valid() const { return (_params.yaw_angle_min < _params.yaw_angle_max); }
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// returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal)
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virtual bool suppress_heartbeat() const { return false; }
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// get pilot input (in the range -1 to +1) received through RC
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void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;
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// get rate targets (in rad/s) from pilot RC
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// returns true on success (RC is providing rate targets), false on failure (RC is providing angle targets)
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bool get_rc_rate_target(MountTarget& rate_rads) const WARN_IF_UNUSED;
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// get angle targets (in radians) from pilot RC
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// returns true on success (RC is providing angle targets), false on failure (RC is providing rate targets)
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bool get_rc_angle_target(MountTarget& angle_rad) const WARN_IF_UNUSED;
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// get angle targets (in radians) to a Location
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// returns true on success, false on failure
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bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED;
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// get angle targets (in radians) to ROI location
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// returns true on success, false on failure
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bool get_angle_target_to_roi(MountTarget& angle_rad) const WARN_IF_UNUSED;
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// get angle targets (in radians) to home location
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// returns true on success, false on failure
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bool get_angle_target_to_home(MountTarget& angle_rad) const WARN_IF_UNUSED;
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// get angle targets (in radians) to a vehicle with sysid of _target_sysid
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// returns true on success, false on failure
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bool get_angle_target_to_sysid(MountTarget& angle_rad) const WARN_IF_UNUSED;
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// update angle targets using a given rate target
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// the resulting angle_rad yaw frame will match the rate_rad yaw frame
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// assumes a 50hz update rate
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void update_angle_target_from_rate(const MountTarget& rate_rad, MountTarget& angle_rad) const;
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// helper function to provide GIMBAL_DEVICE_FLAGS for use in GIMBAL_DEVICE_ATTITUDE_STATUS message
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uint16_t get_gimbal_device_flags() const;
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// sent warning to GCS
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void send_warning_to_GCS(const char* warning_str);
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AP_Mount &_frontend; // reference to the front end which holds parameters
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AP_Mount_Params &_params; // parameters for this backend
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uint8_t _instance; // this instance's number
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MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
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bool _yaw_lock; // True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame
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// structure for MAVLink Targeting angle and rate targets
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struct {
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MountTargetType target_type;// MAVLink targeting mode's current target type (e.g. angle or rate)
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MountTarget angle_rad; // angle target in radians
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MountTarget rate_rads; // rate target in rad/s
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} mavt_target;
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Location _roi_target; // roi target location
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bool _roi_target_set; // true if the roi target has been set
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uint8_t _target_sysid; // sysid to track
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Location _target_sysid_location;// sysid target location
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bool _target_sysid_location_set;// true if _target_sysid has been set
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uint32_t _last_warning_ms; // system time of last warning sent to GCS
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// structure holding mavlink sysid and compid of controller of this gimbal
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// see MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE and GIMBAL_MANAGER_STATUS
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struct {
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uint8_t sysid;
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uint8_t compid;
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} mavlink_control_id;
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};
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#endif // HAL_MOUNT_ENABLED
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