ardupilot/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp

157 lines
4.6 KiB
C++

#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#if AP_AHRS_NAVEKF_AVAILABLE
#include "AP_Mount_SoloGimbal.h"
#include "SoloGimbal.h"
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
AP_Mount_SoloGimbal::AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance) :
AP_Mount_Backend(frontend, state, instance),
_gimbal(frontend._ahrs)
{}
// init - performs any required initialisation for this instance
void AP_Mount_SoloGimbal::init(const AP_SerialManager& serial_manager)
{
_initialised = true;
set_mode((enum MAV_MOUNT_MODE)_state._default_mode.get());
}
void AP_Mount_SoloGimbal::update_fast()
{
_gimbal.update_fast();
}
// update mount position - should be called periodically
void AP_Mount_SoloGimbal::update()
{
// exit immediately if not initialised
if (!_initialised) {
return;
}
// update based on mount mode
switch(get_mode()) {
// move mount to a "retracted" position. we do not implement a separate servo based retract mechanism
case MAV_MOUNT_MODE_RETRACT:
_gimbal.set_lockedToBody(true);
break;
// move mount to a neutral position, typically pointing forward
case MAV_MOUNT_MODE_NEUTRAL:
{
_gimbal.set_lockedToBody(false);
const Vector3f &target = _state._neutral_angles.get();
_angle_ef_target_rad.x = ToRad(target.x);
_angle_ef_target_rad.y = ToRad(target.y);
_angle_ef_target_rad.z = ToRad(target.z);
}
break;
// point to the angles given by a mavlink message
case MAV_MOUNT_MODE_MAVLINK_TARGETING:
_gimbal.set_lockedToBody(false);
// 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
break;
// RC radio manual angle control, but with stabilization from the AHRS
case MAV_MOUNT_MODE_RC_TARGETING:
_gimbal.set_lockedToBody(false);
// update targets using pilot's rc inputs
update_targets_from_rc();
break;
// point mount to a GPS point given by the mission planner
case MAV_MOUNT_MODE_GPS_POINT:
_gimbal.set_lockedToBody(false);
if(AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
calc_angle_to_location(_state._roi_target, _angle_ef_target_rad, true, true);
}
break;
default:
// we do not know this mode so do nothing
break;
}
}
// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
bool AP_Mount_SoloGimbal::has_pan_control() const
{
// we do not have yaw control
return false;
}
// set_mode - sets mount's mode
void AP_Mount_SoloGimbal::set_mode(enum MAV_MOUNT_MODE mode)
{
// exit immediately if not initialised
if (!_initialised) {
return;
}
// record the mode change
_state._mode = mode;
}
// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_SoloGimbal::status_msg(mavlink_channel_t chan)
{
if (_gimbal.aligned()) {
mavlink_msg_mount_status_send(chan, 0, 0, degrees(_angle_ef_target_rad.y)*100, degrees(_angle_ef_target_rad.x)*100, degrees(_angle_ef_target_rad.z)*100);
}
// block heartbeat from transmitting to the GCS
GCS_MAVLINK::disable_channel_routing(chan);
}
/*
handle a GIMBAL_REPORT message
*/
void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, mavlink_message_t *msg)
{
_gimbal.update_target(_angle_ef_target_rad);
_gimbal.receive_feedback(chan,msg);
DataFlash_Class *df = DataFlash_Class::instance();
if (df == nullptr) {
return;
}
if(!_params_saved && df->logging_started()) {
_gimbal.fetch_params(); //last parameter save might not be stored in dataflash so retry
_params_saved = true;
}
if (_gimbal.get_log_dt() > 1.0f/25.0f) {
_gimbal.write_logs();
}
}
void AP_Mount_SoloGimbal::handle_param_value(mavlink_message_t *msg)
{
_gimbal.handle_param_value(msg);
}
/*
handle a GIMBAL_REPORT message
*/
void AP_Mount_SoloGimbal::handle_gimbal_torque_report(mavlink_channel_t chan, mavlink_message_t *msg)
{
_gimbal.disable_torque_report();
}
/*
send a GIMBAL_REPORT message to the GCS
*/
void AP_Mount_SoloGimbal::send_gimbal_report(mavlink_channel_t chan)
{
}
#endif // AP_AHRS_NAVEKF_AVAILABLE