mirror of https://github.com/ArduPilot/ardupilot
55 lines
2.0 KiB
C++
55 lines
2.0 KiB
C++
/*
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SToRM32 mount backend class
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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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_GPS/AP_GPS.h>
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#include <RC_Channel/RC_Channel.h>
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#include "AP_Mount_Backend.h"
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#define AP_MOUNT_STORM32_RESEND_MS 1000 // resend angle targets to gimbal once per second
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#define AP_MOUNT_STORM32_SEARCH_MS 60000 // search for gimbal for 1 minute after startup
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class AP_Mount_SToRM32 : public AP_Mount_Backend
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{
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public:
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// Constructor
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AP_Mount_SToRM32(AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance);
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// init - performs any required initialisation for this instance
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virtual void init(const AP_SerialManager& serial_manager) override {}
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// update mount position - should be called periodically
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virtual void update() override;
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// has_pan_control - returns true if this mount can control it's pan (required for multicopters)
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virtual bool has_pan_control() const override;
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// set_mode - sets mount's mode
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virtual void set_mode(enum MAV_MOUNT_MODE mode) 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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virtual void send_mount_status(mavlink_channel_t chan) override;
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private:
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// search for gimbal in GCS_MAVLink routing table
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void find_gimbal();
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// send_do_mount_control - send a COMMAND_LONG containing a do_mount_control message
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void send_do_mount_control(float pitch_deg, float roll_deg, float yaw_deg, enum MAV_MOUNT_MODE mount_mode);
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// internal variables
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bool _initialised; // true once the driver has been initialised
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uint8_t _sysid; // sysid of gimbal
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uint8_t _compid; // component id of gimbal
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mavlink_channel_t _chan; // mavlink channel used to communicate with gimbal. Currently hard-coded to Telem2
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uint32_t _last_send; // system time of last do_mount_control sent to gimbal
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};
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