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AP_Mount: add HAL_MOUNT_STORMSERIAL_ENABLED build option

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Randy Mackay 2022-06-14 13:56:34 +09:00 committed by Andrew Tridgell
parent 59916d0327
commit d24d3c0af8
3 changed files with 14 additions and 6 deletions
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2
libraries/AP_Mount/AP_Mount.cpp
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@ -469,10 +469,12 @@ void AP_Mount::init()
_num_instances++;
#endif
#if HAL_MOUNT_STORM32SERIAL_ENABLED
// check for SToRM32 mounts using serial protocol
} else if (mount_type == Mount_Type_SToRM32_serial) {
_backends[instance] = new AP_Mount_SToRM32_serial(*this, state[instance], instance);
_num_instances++;
#endif
#if HAL_MOUNT_GREMSY_ENABLED
// check for Gremsy mounts

5
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp
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@ -1,5 +1,6 @@
#include "AP_Mount_SToRM32_serial.h"
#if HAL_MOUNT_ENABLED
#if HAL_MOUNT_STORM32SERIAL_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <GCS_MAVLink/include/mavlink/v2.0/checksum.h>
@ -296,4 +297,4 @@ void AP_Mount_SToRM32_serial::parse_reply() {
break;
}
}
#endif // HAL_MOUNT_ENABLED
#endif // HAL_MOUNT_STORM32SERIAL_ENABLED

13
libraries/AP_Mount/AP_Mount_SToRM32_serial.h
View File

@ -3,14 +3,19 @@
*/
#pragma once
#include "AP_Mount_Backend.h"
#ifndef HAL_MOUNT_STORM32SERIAL_ENABLED
#define HAL_MOUNT_STORM32SERIAL_ENABLED HAL_MOUNT_ENABLED
#endif
#if HAL_MOUNT_STORM32SERIAL_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Math/AP_Math.h>
#include <AP_Common/AP_Common.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include "AP_Mount_Backend.h"
#if HAL_MOUNT_ENABLED
#define AP_MOUNT_STORM32_SERIAL_RESEND_MS 1000 // resend angle targets to gimbal once per second
@ -148,4 +153,4 @@ private:
// keep the last _current_angle values
Vector3l _current_angle;
};
#endif // HAL_MOUNT_ENABLED
#endif // HAL_MOUNT_STORM32SERIAL_ENABLED