mirror of https://github.com/ArduPilot/ardupilot
112 lines
3.3 KiB
C++
112 lines
3.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "AP_Mount_MAVLink.h"
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#if AP_AHRS_NAVEKF_AVAILABLE
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <stdio.h>
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#include "AP_Gimbal.h"
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#if MOUNT_DEBUG
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#include <stdio.h>
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#endif
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AP_Mount_MAVLink::AP_Mount_MAVLink(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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_initialised(false),
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_gimbal(frontend._ahrs, MAV_COMP_ID_GIMBAL, _state._gimbalParams)
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{}
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// init - performs any required initialisation for this instance
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void AP_Mount_MAVLink::init(const AP_SerialManager& serial_manager)
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{
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_initialised = true;
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set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());
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}
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// update mount position - should be called periodically
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void AP_Mount_MAVLink::update()
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{
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// exit immediately if not initialised
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if (!_initialised) {
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return;
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}
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// update based on mount mode
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switch(get_mode()) {
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// move mount to a "retracted" position. we do not implement a separate servo based retract mechanism
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case MAV_MOUNT_MODE_RETRACT:
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break;
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// move mount to a neutral position, typically pointing forward
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case MAV_MOUNT_MODE_NEUTRAL:
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break;
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// point to the angles given by a mavlink message
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case MAV_MOUNT_MODE_MAVLINK_TARGETING:
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// do nothing because earth-frame angle targets (i.e. _angle_ef_target_rad) should have already been set by a MOUNT_CONTROL message from GCS
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break;
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// RC radio manual angle control, but with stabilization from the AHRS
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case MAV_MOUNT_MODE_RC_TARGETING:
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// update targets using pilot's rc inputs
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update_targets_from_rc();
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break;
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// point mount to a GPS point given by the mission planner
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case MAV_MOUNT_MODE_GPS_POINT:
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if(_frontend._ahrs.get_gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
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calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, true);
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}
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break;
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default:
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// we do not know this mode so do nothing
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break;
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}
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}
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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 AP_Mount_MAVLink::has_pan_control() const
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{
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// we do not have yaw control
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return false;
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}
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// set_mode - sets mount's mode
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void AP_Mount_MAVLink::set_mode(enum MAV_MOUNT_MODE mode)
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{
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// exit immediately if not initialised
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if (!_initialised) {
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return;
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}
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// record the mode change
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_state._mode = mode;
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}
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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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void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan)
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{
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Vector3f est = _gimbal.getGimbalEstimateEF();
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mavlink_msg_mount_status_send(chan, 0, 0, degrees(est.y)*100, degrees(est.x)*100, degrees(est.z)*100);
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}
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/*
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handle a GIMBAL_REPORT message
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*/
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void AP_Mount_MAVLink::handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg)
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{
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_gimbal.update_target(_angle_ef_target_rad);
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_gimbal.receive_feedback(chan,msg);
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}
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/*
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send a GIMBAL_REPORT message to the GCS
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*/
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void AP_Mount_MAVLink::send_gimbal_report(mavlink_channel_t chan)
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{
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_gimbal.send_report(chan);
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}
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#endif // AP_AHRS_NAVEKF_AVAILABLE
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