ardupilot/libraries/AP_Mount/AP_Mount_Xacti.cpp

521 lines
19 KiB
C++

#include "AP_Mount_Xacti.h"
#if HAL_MOUNT_XACTI_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
#include <AP_CANManager/AP_CANManager.h>
#include <AP_DroneCAN/AP_DroneCAN.h>
extern const AP_HAL::HAL& hal;
#define LOG_TAG "Mount"
#define XACTI_PARAM_SINGLESHOT "SingleShot"
#define XACTI_PARAM_RECORDING "Recording"
#define XACTI_PARAM_FOCUSMODE "FocusMode"
#define AP_MOUNT_XACTI_DEBUG 0
#define debug(fmt, args ...) do { if (AP_MOUNT_XACTI_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Xacti: " fmt, ## args); } } while (0)
bool AP_Mount_Xacti::_subscribed = false;
AP_Mount_Xacti::DetectedModules AP_Mount_Xacti::_detected_modules[];
HAL_Semaphore AP_Mount_Xacti::_sem_registry;
// Constructor
AP_Mount_Xacti::AP_Mount_Xacti(class AP_Mount &frontend, class AP_Mount_Params &params, uint8_t instance) :
AP_Mount_Backend(frontend, params, instance)
{
register_backend();
param_int_cb = FUNCTOR_BIND_MEMBER(&AP_Mount_Xacti::handle_param_get_set_response_int, bool, AP_DroneCAN*, const uint8_t, const char*, int32_t &);
param_save_cb = FUNCTOR_BIND_MEMBER(&AP_Mount_Xacti::handle_param_save_response, void, AP_DroneCAN*, const uint8_t, bool);
}
// init - performs any required initialisation for this instance
void AP_Mount_Xacti::init()
{
_initialised = true;
}
// update mount position - should be called periodically
void AP_Mount_Xacti::update()
{
// exit immediately if not initialised
if (!_initialised) {
return;
}
// periodically send copter attitude and GPS status
send_copter_att_status();
// update based on mount mode
switch (get_mode()) {
// move mount to a "retracted" position. To-Do: remove support and replace with a relaxed mode?
case MAV_MOUNT_MODE_RETRACT: {
const Vector3f &angle_bf_target = _params.retract_angles.get();
mnt_target.target_type = MountTargetType::ANGLE;
mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
break;
}
case MAV_MOUNT_MODE_NEUTRAL: {
const Vector3f &angle_bf_target = _params.neutral_angles.get();
mnt_target.target_type = MountTargetType::ANGLE;
mnt_target.angle_rad.set(angle_bf_target*DEG_TO_RAD, false);
break;
}
case MAV_MOUNT_MODE_MAVLINK_TARGETING: {
// mavlink targets are set while handling the incoming message
break;
}
case MAV_MOUNT_MODE_RC_TARGETING: {
// update targets using pilot's RC inputs
MountTarget rc_target;
get_rc_target(mnt_target.target_type, rc_target);
switch (mnt_target.target_type) {
case MountTargetType::ANGLE:
mnt_target.angle_rad = rc_target;
break;
case MountTargetType::RATE:
mnt_target.rate_rads = rc_target;
break;
}
break;
}
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
if (get_angle_target_to_roi(mnt_target.angle_rad)) {
mnt_target.target_type = MountTargetType::ANGLE;
}
break;
// point mount to Home location
case MAV_MOUNT_MODE_HOME_LOCATION:
if (get_angle_target_to_home(mnt_target.angle_rad)) {
mnt_target.target_type = MountTargetType::ANGLE;
}
break;
// point mount to another vehicle
case MAV_MOUNT_MODE_SYSID_TARGET:
if (get_angle_target_to_sysid(mnt_target.angle_rad)) {
mnt_target.target_type = MountTargetType::ANGLE;
}
break;
default:
// we do not know this mode so raise internal error
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
break;
}
// send target angles or rates depending on the target type
switch (mnt_target.target_type) {
case MountTargetType::ANGLE:
send_target_angles(mnt_target.angle_rad.pitch, mnt_target.angle_rad.yaw, mnt_target.angle_rad.yaw_is_ef);
break;
case MountTargetType::RATE:
send_target_rates(mnt_target.rate_rads.pitch, mnt_target.rate_rads.yaw, mnt_target.rate_rads.yaw_is_ef);
break;
}
}
// return true if healthy
bool AP_Mount_Xacti::healthy() const
{
// unhealthy until gimbal has been found and replied with firmware version info
if (!_initialised) {
return false;
}
// unhealthy if attitude information NOT received recently
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_current_attitude_quat_ms > 1000) {
return false;
}
// if we get this far return healthy
return true;
}
// take a picture. returns true on success
bool AP_Mount_Xacti::take_picture()
{
if (_detected_modules[_instance].ap_dronecan == nullptr) {
return false;
}
// set SingleShot parameter
return _detected_modules[_instance].ap_dronecan->set_parameter_on_node(_detected_modules[_instance].node_id, XACTI_PARAM_SINGLESHOT, 0, &param_int_cb);
}
// start or stop video recording. returns true on success
// set start_recording = true to start record, false to stop recording
bool AP_Mount_Xacti::record_video(bool start_recording)
{
if (_detected_modules[_instance].ap_dronecan == nullptr) {
return false;
}
// set Recording parameter
return _detected_modules[_instance].ap_dronecan->set_parameter_on_node(_detected_modules[_instance].node_id, XACTI_PARAM_RECORDING, start_recording ? 1 : 0, &param_int_cb);
}
// set focus specified as rate, percentage or auto
// focus in = -1, focus hold = 0, focus out = 1
SetFocusResult AP_Mount_Xacti::set_focus(FocusType focus_type, float focus_value)
{
if (_detected_modules[_instance].ap_dronecan == nullptr) {
return SetFocusResult::FAILED;
}
// convert focus type and value to parameter value
uint8_t focus_param_value;
switch (focus_type) {
case FocusType::RATE:
case FocusType::PCT:
// focus rate and percentage control not supported so simply switch to manual focus
// FocusMode of 0:Manual Focus
focus_param_value = 0;
break;
case FocusType::AUTO:
// FocusMode of 1:Single AutoFocus, 2:Continuous AutoFocus
focus_param_value = 2;
break;
default:
// unsupported forucs mode
return SetFocusResult::INVALID_PARAMETERS;
}
// set FocusMode parameter
if (!_detected_modules[_instance].ap_dronecan->set_parameter_on_node(_detected_modules[_instance].node_id, XACTI_PARAM_FOCUSMODE, focus_param_value, &param_int_cb)) {
return SetFocusResult::FAILED;
}
return SetFocusResult::ACCEPTED;
}
// send camera information message to GCS
void AP_Mount_Xacti::send_camera_information(mavlink_channel_t chan) const
{
// exit immediately if not initialised
if (!_initialised) {
return;
}
static const uint8_t vendor_name[32] = "Xacti";
static uint8_t model_name[32] = "CX-GB100";
const char cam_definition_uri[140] {};
const float NaN = nanf("0x4152");
// capability flags
const uint32_t flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO |
CAMERA_CAP_FLAGS_CAPTURE_IMAGE |
CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS;
// send CAMERA_INFORMATION message
mavlink_msg_camera_information_send(
chan,
AP_HAL::millis(), // time_boot_ms
vendor_name, // vendor_name uint8_t[32]
model_name, // model_name uint8_t[32]
0, // firmware version uint32_t
NaN, // focal_length float (mm)
NaN, // sensor_size_h float (mm)
NaN, // sensor_size_v float (mm)
0, // resolution_h uint16_t (pix)
0, // resolution_v uint16_t (pix)
0, // lens_id uint8_t
flags, // flags uint32_t (CAMERA_CAP_FLAGS)
0, // cam_definition_version uint16_t
cam_definition_uri, // cam_definition_uri char[140]
_instance + 1); // gimbal_device_id uint8_t
}
// send camera settings message to GCS
void AP_Mount_Xacti::send_camera_settings(mavlink_channel_t chan) const
{
const float NaN = nanf("0x4152");
// send CAMERA_SETTINGS message
mavlink_msg_camera_settings_send(
chan,
AP_HAL::millis(), // time_boot_ms
_recording_video ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
0, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaN); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
// get attitude as a quaternion. returns true on success
bool AP_Mount_Xacti::get_attitude_quaternion(Quaternion& att_quat)
{
att_quat = _current_attitude_quat;
return true;
}
// send target pitch and yaw rates to gimbal
// yaw_is_ef should be true if yaw_rads target is an earth frame rate, false if body_frame
void AP_Mount_Xacti::send_target_rates(float pitch_rads, float yaw_rads, bool yaw_is_ef)
{
// send gimbal rate target to gimbal
send_gimbal_control(3, degrees(pitch_rads) * 100, degrees(yaw_rads) * 100);
}
// send target pitch and yaw angles to gimbal
// yaw_is_ef should be true if yaw_rad target is an earth frame angle, false if body_frame
void AP_Mount_Xacti::send_target_angles(float pitch_rad, float yaw_rad, bool yaw_is_ef)
{
// convert yaw to body frame
const float yaw_bf_rad = yaw_is_ef ? wrap_PI(yaw_rad - AP::ahrs().yaw) : yaw_rad;
// send angle target to gimbal
send_gimbal_control(2, degrees(pitch_rad) * 100, degrees(yaw_bf_rad) * 100);
}
// subscribe to Xacti DroneCAN messages
void AP_Mount_Xacti::subscribe_msgs(AP_DroneCAN* ap_dronecan)
{
// return immediately if DroneCAN is unavailable
if (ap_dronecan == nullptr) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Xacti: DroneCAN subscribe failed");
return;
}
_subscribed = true;
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_gimbal_attitude_status, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("gimbal_attitude_status_sub");
_subscribed = false;
}
if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_gnss_status_req, ap_dronecan->get_driver_index()) == nullptr) {
AP_BoardConfig::allocation_error("gnss_status_req_sub");
_subscribed = false;
}
}
// register backend in detected modules array used to map DroneCAN port and node id to backend
void AP_Mount_Xacti::register_backend()
{
WITH_SEMAPHORE(_sem_registry);
// add this backend to _detected_modules array
_detected_modules[_instance].driver = this;
// return if devid is zero meaning this backend has not yet been associated with a mount
const uint32_t devid = (uint32_t)_params.dev_id.get();
if (devid == 0) {
return;
}
// get DroneCan port from device id
const uint8_t can_driver_index = AP_HAL::Device::devid_get_bus(devid);
const uint8_t can_num_drivers = AP::can().get_num_drivers();
for (uint8_t i = 0; i < can_num_drivers; i++) {
AP_DroneCAN *ap_dronecan = AP_DroneCAN::get_dronecan(i);
if (ap_dronecan != nullptr && ap_dronecan->get_driver_index() == can_driver_index) {
_detected_modules[_instance].ap_dronecan = ap_dronecan;
}
}
// get node_id from device id
_detected_modules[_instance].node_id = AP_HAL::Device::devid_get_address(devid);
}
// find backend associated with the given dronecan port and node_id. also associates backends with zero node ids
// returns pointer to backend on success, nullptr on failure
AP_Mount_Xacti* AP_Mount_Xacti::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
{
WITH_SEMAPHORE(_sem_registry);
// exit immediately if DroneCAN is unavailable or invalid node id
if (ap_dronecan == nullptr || node_id == 0) {
return nullptr;
}
// search for backend with matching dronecan port and node id
for (uint8_t i = 0; i < ARRAY_SIZE(_detected_modules); i++) {
if (_detected_modules[i].driver != nullptr &&
_detected_modules[i].ap_dronecan == ap_dronecan &&
_detected_modules[i].node_id == node_id ) {
return _detected_modules[i].driver;
}
}
// if we got this far, this dronecan port and node id are not associated with any backend
// associate with first backend with node id of zero
for (uint8_t i = 0; i < ARRAY_SIZE(_detected_modules); i++) {
if (_detected_modules[i].driver != nullptr &&
_detected_modules[i].node_id == 0) {
_detected_modules[i].ap_dronecan = ap_dronecan;
_detected_modules[i].node_id = node_id;
const auto dev_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
ap_dronecan->get_driver_index(),
node_id, 0);
_detected_modules[i].driver->set_dev_id(dev_id);
return _detected_modules[i].driver;
}
}
return nullptr;
}
// handle xacti gimbal attitude status message
void AP_Mount_Xacti::handle_gimbal_attitude_status(AP_DroneCAN* ap_dronecan, const CanardRxTransfer& transfer, const com_xacti_GimbalAttitudeStatus &msg)
{
// fetch the matching backend driver, node id and gimbal id backend instance
AP_Mount_Xacti* driver = get_dronecan_backend(ap_dronecan, transfer.source_node_id);
if (driver == nullptr) {
return;
}
// convert body-frame Euler angles to Quaternion. Note yaw direction is reversed from normal
driver->_current_attitude_quat.from_euler(radians(msg.gimbal_roll * 0.01), radians(msg.gimbal_pitch * 0.01), radians(-msg.gimbal_yaw * 0.01));
driver->_last_current_attitude_quat_ms = AP_HAL::millis();
}
// handle xacti gnss status request message
void AP_Mount_Xacti::handle_gnss_status_req(AP_DroneCAN* ap_dronecan, const CanardRxTransfer& transfer, const com_xacti_GnssStatusReq &msg)
{
// sanity check dronecan port
if (ap_dronecan == nullptr) {
return;
}
// get current location
uint8_t gps_status = 2;
Location loc;
if (!AP::ahrs().get_location(loc)) {
gps_status = 0;
}
// get date and time
uint16_t year, ms;
uint8_t month, day, hour, min, sec;
if (!AP::rtc().get_date_and_time_utc(year, month, day, hour, min, sec, ms)) {
year = month = day = hour = min = sec = 0;
}
// send xacti specific gnss status message
com_xacti_GnssStatus xacti_gnss_status_msg {};
xacti_gnss_status_msg.gps_status = gps_status;
xacti_gnss_status_msg.order = msg.requirement;
xacti_gnss_status_msg.remain_buffer = 1;
xacti_gnss_status_msg.utc_year = year;
xacti_gnss_status_msg.utc_month = month + 1;
xacti_gnss_status_msg.utc_day = day;
xacti_gnss_status_msg.utc_hour = hour;
xacti_gnss_status_msg.utc_minute = min;
xacti_gnss_status_msg.utc_seconds = sec;
xacti_gnss_status_msg.latitude = loc.lat * 1e-7;
xacti_gnss_status_msg.longitude = loc.lng * 1e-7;
xacti_gnss_status_msg.altitude = loc.alt * 1e-2;
ap_dronecan->xacti_gnss_status.broadcast(xacti_gnss_status_msg);
}
// handle param get/set response
bool AP_Mount_Xacti::handle_param_get_set_response_int(AP_DroneCAN* ap_dronecan, uint8_t node_id, const char* name, int32_t &value)
{
// display errors
const char* err_prefix_str = "Xacti: failed to";
if (strcmp(name, XACTI_PARAM_SINGLESHOT) == 0) {
if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s take pic", err_prefix_str);
}
return false;
}
if (strcmp(name, XACTI_PARAM_RECORDING) == 0) {
if (value < 0) {
_recording_video = false;
gcs().send_text(MAV_SEVERITY_ERROR, "%s record", err_prefix_str);
} else {
_recording_video = (value == 1);
gcs().send_text(MAV_SEVERITY_INFO, "Xacti: recording %s", _recording_video ? "ON" : "OFF");
}
return false;
}
if (strcmp(name, XACTI_PARAM_FOCUSMODE) == 0) {
if (value < 0) {
gcs().send_text(MAV_SEVERITY_ERROR, "%s change focus", err_prefix_str);
} else {
gcs().send_text(MAV_SEVERITY_INFO, "Xacti: %s focus", value == 0 ? "manual" : "auto");
}
return false;
}
// unhandled parameter get or set
gcs().send_text(MAV_SEVERITY_INFO, "Xacti: get/set %s res:%ld", name, (long int)value);
return false;
}
void AP_Mount_Xacti::handle_param_save_response(AP_DroneCAN* ap_dronecan, const uint8_t node_id, bool success)
{
// display failure to save parameter
if (!success) {
gcs().send_text(MAV_SEVERITY_ERROR, "Xacti: CAM%u failed to set param", (int)_instance+1);
}
}
// send gimbal control message via DroneCAN
// mode is 2:angle control or 3:rate control
// pitch_cd is pitch angle in centi-degrees or pitch rate in cds
// yaw_cd is angle in centi-degrees or yaw rate in cds
void AP_Mount_Xacti::send_gimbal_control(uint8_t mode, int16_t pitch_cd, int16_t yaw_cd)
{
// exit immediately if no DroneCAN port
if (_detected_modules[_instance].ap_dronecan == nullptr) {
return;
}
// send at no faster than 5hz
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - last_send_gimbal_control_ms < 200) {
return;
}
last_send_gimbal_control_ms = now_ms;
// send xacti specific gimbal control message
com_xacti_GimbalControlData gimbal_control_data_msg {};
gimbal_control_data_msg.pitch_cmd_type = mode;
gimbal_control_data_msg.yaw_cmd_type = mode;
gimbal_control_data_msg.pitch_cmd_value = pitch_cd;
gimbal_control_data_msg.yaw_cmd_value = -yaw_cd;
_detected_modules[_instance].ap_dronecan->xacti_gimbal_control_data.broadcast(gimbal_control_data_msg);
}
// send copter attitude status message to gimbal
void AP_Mount_Xacti::send_copter_att_status()
{
// exit immediately if no DroneCAN port
if (_detected_modules[_instance].ap_dronecan == nullptr) {
return;
}
// send at no faster than 5hz
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - last_send_copter_att_status_ms < 100) {
return;
}
// send xacti specific vehicle attitude message
Quaternion veh_att;
if (!AP::ahrs().get_quaternion(veh_att)) {
return;
}
last_send_copter_att_status_ms = now_ms;
com_xacti_CopterAttStatus copter_att_status_msg {};
copter_att_status_msg.quaternion_wxyz_e4[0] = veh_att.q1 * 1e4;
copter_att_status_msg.quaternion_wxyz_e4[1] = veh_att.q2 * 1e4;
copter_att_status_msg.quaternion_wxyz_e4[2] = veh_att.q3 * 1e4;
copter_att_status_msg.quaternion_wxyz_e4[3] = veh_att.q4 * 1e4;
copter_att_status_msg.reserved.len = 2;
copter_att_status_msg.reserved.data[0] = 0;
copter_att_status_msg.reserved.data[1] = 0;
_detected_modules[_instance].ap_dronecan->xacti_copter_att_status.broadcast(copter_att_status_msg);
}
#endif // HAL_MOUNT_XACTI_ENABLED