mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.4 KiB
C++
66 lines
2.4 KiB
C++
/*
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Servo controlled 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_SERVO_ENABLED
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#define HAL_MOUNT_SERVO_ENABLED HAL_MOUNT_ENABLED
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#endif
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#if HAL_MOUNT_SERVO_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 <AP_AHRS/AP_AHRS.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <SRV_Channel/SRV_Channel.h>
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class AP_Mount_Servo : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_Servo(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance):
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AP_Mount_Backend(frontend, state, instance),
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_roll_idx(SRV_Channel::k_none),
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_tilt_idx(SRV_Channel::k_none),
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_pan_idx(SRV_Channel::k_none),
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_open_idx(SRV_Channel::k_none)
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{
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}
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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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// returns true if this mount can control its pan (required for multicopters)
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bool has_pan_control() const override;
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// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
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void send_mount_status(mavlink_channel_t chan) override;
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private:
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// update body-frame angle outputs from earth-frame targets
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void update_angle_outputs(const MountTarget& angle_rad);
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// returns closest angle to 'angle' taking into account limits. all angles are in body-frame and degrees * 10
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int16_t closest_limit(int16_t angle, int16_t angle_min, int16_t angle_max);
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/// moves servo with the given function id to the specified angle. all angles are in body-frame and degrees * 10
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void move_servo(uint8_t rc, int16_t angle, int16_t angle_min, int16_t angle_max);
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// SRV_Channel - different id numbers are used depending upon the instance number
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SRV_Channel::Aux_servo_function_t _roll_idx; // SRV_Channel mount roll function index
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SRV_Channel::Aux_servo_function_t _tilt_idx; // SRV_Channel mount tilt function index
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SRV_Channel::Aux_servo_function_t _pan_idx; // SRV_Channel mount pan function index
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SRV_Channel::Aux_servo_function_t _open_idx; // SRV_Channel mount open function index
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MountTarget _angle_rad; // angle target
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Vector3f _angle_bf_output_deg; // final body frame output angle in degrees
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};
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#endif // HAL_MOUNT_SERVO_ENABLED
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