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Mission: support do-mount-control

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This commit is contained in:
Randy Mackay 2015-03-21 20:56:50 +09:00
parent e1abdadc06
commit f6021010c5
2 changed files with 22 additions and 2 deletions
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14
libraries/AP_Mission/AP_Mission.cpp
View File

@ -604,8 +604,13 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
// command takes no parameters
break;
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
// these commands takes no parameters
cmd.content.mount_control.pitch = packet.param1;
cmd.content.mount_control.roll = packet.param2;
cmd.content.mount_control.yaw = packet.param3;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
@ -877,10 +882,15 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // MAV ID: 203
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
// these commands takes no parameters
break;
case MAV_CMD_DO_MOUNT_CONTROL: // MAV ID: 205
packet.param1 = cmd.content.mount_control.pitch;
packet.param2 = cmd.content.mount_control.roll;
packet.param3 = cmd.content.mount_control.yaw;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
packet.param1 = cmd.content.cam_trigg_dist.meters; // distance between camera shots in meters
break;

10
libraries/AP_Mission/AP_Mission.h
View File

@ -106,6 +106,13 @@ public:
float cycle_time; // cycle time in seconds (the time between peaks or the time the servo is at the specified pwm value for each cycle?)
};
// mount control command structure
struct PACKED Mount_Control {
float pitch; // pitch angle in degrees
float roll; // roll angle in degrees
float yaw; // yaw angle (relative to vehicle heading) in degrees
};
// set cam trigger distance command structure
struct PACKED Cam_Trigg_Distance {
float meters; // distance
@ -153,6 +160,9 @@ public:
// do-repeate-servo
Repeat_Servo_Command repeat_servo;
// mount control
Mount_Control mount_control;
// cam trigg distance
Cam_Trigg_Distance cam_trigg_dist;