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AP_Mount: Remove unneeded headers

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This commit is contained in:
Michael du Breuil 2019-04-04 03:50:00 -07:00 committed by Peter Barker
parent 8cafbe394f
commit 2d161e3594
3 changed files with 5 additions and 13 deletions
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5
libraries/AP_Mount/AP_Mount.h
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@ -21,12 +21,9 @@
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/Location.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Logger/AP_Logger.h>
// maximum number of mounts
#define AP_MOUNT_MAX_INSTANCES 1

9
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -1,4 +1,5 @@
#include "AP_Mount_Backend.h"
#include <AP_AHRS/AP_AHRS.h>
extern const AP_HAL::HAL& hal;
@ -124,16 +125,10 @@ void AP_Mount_Backend::update_targets_from_rc()
}
}
// returns the angle (degrees*100) that the RC_Channel input is receiving
int32_t AP_Mount_Backend::angle_input(const RC_Channel* rc, int16_t angle_min, int16_t angle_max)
{
return (rc->norm_input() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min;
}
// returns the angle (radians) that the RC_Channel input is receiving
float AP_Mount_Backend::angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max)
{
return radians(angle_input(rc, angle_min, angle_max)*0.01f);
return radians(((rc->norm_input() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f);
}
// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target

4
libraries/AP_Mount/AP_Mount_Backend.h
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@ -21,6 +21,7 @@
#include <AP_Common/AP_Common.h>
#include "AP_Mount.h"
#include <RC_Channel/RC_Channel.h>
class AP_Mount_Backend
{
@ -82,8 +83,7 @@ protected:
// update_targets_from_rc - updates angle targets (i.e. _angle_ef_target_rad) using input from receiver
void update_targets_from_rc();
// angle_input, angle_input_rad - convert RC input into an earth-frame target angle
int32_t angle_input(const RC_Channel* rc, int16_t angle_min, int16_t angle_max);
// angle_input_rad - convert RC input into an earth-frame target angle
float angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max);
// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target