mirror of https://github.com/ArduPilot/ardupilot
108 lines
3.5 KiB
C++
108 lines
3.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/************************************************************
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* AP_mount -- library to control a 2 or 3 axis mount. *
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* *
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* Author: Joe Holdsworth; *
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* Ritchie Wilson; *
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* Amilcar Lucas; *
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* Gregory Fletcher; *
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* *
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* Purpose: Move a 2 or 3 axis mount attached to vehicle, *
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* Used for mount to track targets or stabilise *
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* camera plus other modes. *
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* *
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* Usage: Use in main code to control mounts attached to *
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* vehicle. *
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* *
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*Comments: All angles in degrees * 100, distances in meters*
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* unless otherwise stated. *
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************************************************************/
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#ifndef AP_Mount_H
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#define AP_Mount_H
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#include <FastSerial.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/RC_Channel_aux.h>
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class AP_Mount
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{
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public:
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//Constructor
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AP_Mount(const struct Location *current_loc, GPS *&gps, AP_AHRS *ahrs);
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//enums
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enum MountType{
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k_pan_tilt = 0, ///< yaw-pitch
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k_tilt_roll = 1, ///< pitch-roll
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k_pan_tilt_roll = 2, ///< yaw-pitch-roll
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};
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// MAVLink methods
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void configure_msg(mavlink_message_t* msg);
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void control_msg(mavlink_message_t* msg);
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void status_msg(mavlink_message_t* msg);
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void set_roi_cmd();
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void configure_cmd();
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void control_cmd();
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// should be called periodically
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void update_mount_position();
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void update_mount_type(); ///< Auto-detect the mount gimbal type depending on the functions assigned to the servos
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void debug_output(); ///< For testing and development. Called in the medium loop.
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// Accessors
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enum MountType get_mount_type();
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private:
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//methods
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void set_mode(enum MAV_MOUNT_MODE mode);
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void set_retract_angles(int roll, int pitch, int yaw); ///< set mount retracted position
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void set_neutral_angles(int roll, int pitch, int yaw);
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void set_mavlink_angles(int roll, int pitch, int yaw);
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void set_GPS_target_location(Location targetGPSLocation); ///< used to tell the mount to track GPS location
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// internal methods
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void calc_GPS_target_angle(struct Location *target);
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void calculate();
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long rc_map(RC_Channel_aux* rc_ch);
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//members
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Matrix3f m; ///< holds 3 x 3 matrix, var is used as temp in calcs
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Matrix3f cam; ///< Rotation matrix earth to camera. Desired camera from input.
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Matrix3f gimbal_target; ///< Rotation matrix from plane to camera. Then Euler angles to the servos.
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AP_AHRS *_ahrs; ///< Rotation matrix from earth to plane.
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GPS *&_gps;
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const struct Location *_current_loc;
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static const float t7 = 10000000.0;
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float _roll_control_angle;
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float _pitch_control_angle;
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float _yaw_control_angle;
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float _roll;
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float _pitch;
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float _yaw;
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int16_t _roll_angle; ///< degrees*100
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int16_t _pitch_angle; ///< degrees*100
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int16_t _yaw_angle; ///< degrees*100
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uint8_t _stab_roll; ///< (1 = yes, 0 = no)
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uint8_t _stab_pitch; ///< (1 = yes, 0 = no)
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uint8_t _stab_yaw; ///< (1 = yes, 0 = no)
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enum MAV_MOUNT_MODE _mount_mode;
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MountType _mount_type;
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struct Location _target_GPS_location;
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Vector3i _retract_angles; ///< retracted position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
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Vector3i _neutral_angles; ///< neutral position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
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Vector3i _mavlink_angles; ///< mavlink position for mount, vector.x = roll vector.y = pitch, vector.z=yaw
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};
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#endif
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