forked from Archive/PX4-Autopilot
Lorenz Meier
commit
9495ec4f5a
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@ -38,10 +38,18 @@
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"build_systems":
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[
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{
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"name": "PX4",
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"name": "PX4: make all",
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"working_dir": "${project_path}",
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"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"cmd": ["make"]
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"cmd": ["make -j8"],
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"shell": true
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},
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{
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"name": "PX4: make and upload",
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"working_dir": "${project_path}",
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"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
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"cmd": ["make upload px4fmu-v2_default -j8"],
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"shell": true
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}
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]
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}
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@ -29,3 +29,10 @@ set MIXER sk450_deadcat
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set PWM_OUT 1234
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set PWM_MIN 1050
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set PWM_AUX_OUT 1234
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# set PWM_AUX_MIN 900
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# set PWM_AUX_MAX 2100
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set PWM_AUX_RATE 100
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gimbal start
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@ -11,7 +11,7 @@ then
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# Load main mixer
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#
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if [ $MIXER_AUX == none -a $USE_IO == yes ]
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if [ $MIXER_AUX == none -a $USE_IO == yes ]
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then
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set MIXER_AUX $MIXER.aux
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fi
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@ -103,6 +103,7 @@ then
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#
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set MIXER_AUX_FILE none
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set OUTPUT_AUX_DEV /dev/pwm_output1
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if [ -f $SDCARD_MIXERS_PATH/$MIXER_AUX.mix ]
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then
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@ -119,10 +120,43 @@ then
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then
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if fmu mode_pwm
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then
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mixer load /dev/pwm_output1 $MIXER_AUX_FILE
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mixer load $OUTPUT_AUX_DEV $MIXER_AUX_FILE
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else
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tone_alarm $TUNE_ERR
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fi
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if [ $PWM_AUX_OUT != none ]
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then
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#
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# Set PWM_AUX output frequency
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#
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if [ $PWM_AUX_RATE != none ]
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then
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pwm rate -c $PWM_AUX_OUT -r $PWM_AUX_RATE -d $OUTPUT_AUX_DEV
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fi
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#
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# Set disarmed, min and max PWM_AUX values
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#
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if [ $PWM_AUX_DISARMED != none ]
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then
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pwm disarmed -c $PWM_AUX_OUT -p $PWM_AUX_DISARMED -d $OUTPUT_AUX_DEV
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fi
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if [ $PWM_AUX_MIN != none ]
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then
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pwm min -c $PWM_AUX_OUT -p $PWM_AUX_MIN -d $OUTPUT_AUX_DEV
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fi
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if [ $PWM_AUX_MAX != none ]
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then
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pwm max -c $PWM_AUX_OUT -p $PWM_AUX_MAX -d $OUTPUT_AUX_DEV
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fi
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fi
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if [ $FAILSAFE_AUX != none ]
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then
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pwm failsafe -d $OUTPUT_AUX_DEV $FAILSAFE
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fi
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fi
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fi
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unset OUTPUT_DEV
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@ -109,6 +109,11 @@ then
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set PWM_DISARMED none
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set PWM_MIN none
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set PWM_MAX none
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set PWM_AUX_OUT none
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set PWM_AUX_RATE none
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set PWM_AUX_DISARMED none
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set PWM_AUX_MIN none
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set PWM_AUX_MAX none
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set MK_MODE none
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set FMU_MODE pwm
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set MAVLINK_F default
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@ -0,0 +1,38 @@
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Gimbal / payload mixer for PX4FMU
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===========================
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Configuration with 2 gimbals:
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- 2 axes inline GoPro gimbal (pitch, roll)
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- 2 axes FPV gimbal (pitch, yaw), physically attached GoPro gimbal's roll stabilization
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-----------------------------------------------------
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# gimbal roll
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 0 -11500 -10000 900 -10000 10000
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# gimbal pitch
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 1 12000 12000 2000 -10000 10000
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# FPV gimbal yaw (not implemented, yet)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 2 10000 10000 0 -10000 10000
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# FPV gimbal pitch
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 1 -12000 -12000 -3000 -10000 10000
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# reserved, not used
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 4 10000 10000 0 -10000 10000
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# parachute
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 2 7 10000 10000 0 -10000 10000
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@ -1,4 +1,4 @@
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Multirotor mixer for PX4FMU
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Multirotor mixer for PX4IO
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===========================
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This file defines a single mixer for a quadrotor in SK450 DeadCat configuration. All controls are mixed 100%.
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@ -44,6 +44,7 @@ MODULES += modules/sensors
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MODULES += drivers/mkblctrl
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MODULES += drivers/px4flow
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MODULES += drivers/oreoled
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MODULES += drivers/gimbal
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#
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# System commands
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@ -0,0 +1,541 @@
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/****************************************************************************
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*
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* Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file gimbal.cpp
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* @author Lorenz Meier <lm@inf.ethz.ch>
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* @author Anton Matosov <anton.matosov@gmail.com>
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*
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* Driver to control a gimbal - relies on input via telemetry or RC
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* and output via the standardized control group #2 and a mixer.
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*/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <string.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <errno.h>
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#include <stdio.h>
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#include <math.h>
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#include <unistd.h>
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#include <termios.h>
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#include <nuttx/arch.h>
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#include <nuttx/wqueue.h>
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#include <nuttx/clock.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/err.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_range_finder.h>
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#include <drivers/device/device.h>
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#include <drivers/device/ringbuffer.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <board_config.h>
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#include <mathlib/math/test/test.hpp>
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#include <mathlib/math/Quaternion.hpp>
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/* Configuration Constants */
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/* oddly, ERROR is not defined for c++ */
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#ifdef ERROR
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# undef ERROR
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#endif
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static const int ERROR = -1;
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#ifndef CONFIG_SCHED_WORKQUEUE
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# error This requires CONFIG_SCHED_WORKQUEUE.
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#endif
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#define GIMBAL_DEVICE_PATH "/dev/gimbal"
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#define GIMBAL_UPDATE_INTERVAL (5 * 1000)
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#define GIMBALIOCATTCOMPENSATE 1
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class Gimbal : public device::CDev
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{
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public:
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Gimbal();
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virtual ~Gimbal();
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virtual int init();
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virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
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virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
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/**
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* Diagnostics - print some basic information about the driver.
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*/
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void print_info();
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protected:
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virtual int probe();
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private:
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float _min_distance;
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float _max_distance;
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work_s _work;
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int _vehicle_command_sub;
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int _att_sub;
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bool _attitude_compensation;
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bool _initialized;
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orb_advert_t _actuator_controls_2_topic;
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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perf_counter_t _buffer_overflows;
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/**
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* Initialise the automatic measurement state machine and start it.
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*
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* @note This function is called at open and error time. It might make sense
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* to make it more aggressive about resetting the bus in case of errors.
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*/
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void start();
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/**
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* Stop the automatic measurement state machine.
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*/
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void stop();
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/**
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* Perform a poll cycle; collect from the previous measurement
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* and start a new one.
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*/
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void cycle();
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/**
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* Static trampoline from the workq context; because we don't have a
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* generic workq wrapper yet.
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*
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* @param arg Instance pointer for the driver that is polling.
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*/
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static void cycle_trampoline(void *arg);
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};
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int gimbal_main(int argc, char *argv[]);
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Gimbal::Gimbal() :
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CDev("Gimbal", GIMBAL_DEVICE_PATH),
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_vehicle_command_sub(-1),
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_att_sub(-1),
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_attitude_compensation(true),
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_initialized(false),
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_actuator_controls_2_topic(-1),
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_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
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_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
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_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
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{
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// disable debug() calls
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_debug_enabled = false;
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// work_cancel in the dtor will explode if we don't do this...
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memset(&_work, 0, sizeof(_work));
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}
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Gimbal::~Gimbal()
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{
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/* make sure we are truly inactive */
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stop();
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::close(_actuator_controls_2_topic);
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::close(_vehicle_command_sub);
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}
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int
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Gimbal::init()
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{
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int ret = ERROR;
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/* do regular cdev init */
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if (CDev::init() != OK) {
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goto out;
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}
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start();
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ret = OK;
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out:
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return ret;
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}
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int
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Gimbal::probe()
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{
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return OK;
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}
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int
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Gimbal::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case GIMBALIOCATTCOMPENSATE:
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_attitude_compensation = (arg != 0);
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return OK;
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default:
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/* give it to the superclass */
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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ssize_t
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Gimbal::read(struct file *filp, char *buffer, size_t buflen)
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{
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return 0;
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}
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void
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Gimbal::start()
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{
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/* schedule a cycle to start things */
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work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1);
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}
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void
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Gimbal::stop()
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{
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work_cancel(LPWORK, &_work);
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}
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void
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Gimbal::cycle_trampoline(void *arg)
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{
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Gimbal *dev = static_cast<Gimbal *>(arg);
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dev->cycle();
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}
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void
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Gimbal::cycle()
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{
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if (!_initialized) {
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/* get a subscription handle on the vehicle command topic */
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_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
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|
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/* get a publication handle on actuator output topic */
|
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struct actuator_controls_s zero_report;
|
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memset(&zero_report, 0, sizeof(zero_report));
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zero_report.timestamp = hrt_absolute_time();
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_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
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||||
|
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if (_actuator_controls_2_topic < 0) {
|
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warnx("advert err");
|
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}
|
||||
|
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_initialized = true;
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}
|
||||
|
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bool updated = false;
|
||||
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perf_begin(_sample_perf);
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||||
|
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float roll = 0.0f;
|
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float pitch = 0.0f;
|
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float yaw = 0.0f;
|
||||
|
||||
|
||||
if (_attitude_compensation) {
|
||||
if (_att_sub < 0) {
|
||||
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
|
||||
}
|
||||
|
||||
vehicle_attitude_s att;
|
||||
|
||||
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
|
||||
|
||||
roll = -att.roll;
|
||||
pitch = -att.pitch;
|
||||
yaw = att.yaw;
|
||||
|
||||
updated = true;
|
||||
}
|
||||
|
||||
struct vehicle_command_s cmd;
|
||||
|
||||
bool cmd_updated;
|
||||
|
||||
orb_check(_vehicle_command_sub, &cmd_updated);
|
||||
|
||||
if (cmd_updated) {
|
||||
|
||||
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
|
||||
|
||||
VEHICLE_MOUNT_MODE mountMode = (VEHICLE_MOUNT_MODE)cmd.param7;
|
||||
debug("cmd: %d, mountMode %d | param1: %8.4f param2: %8.4f", cmd.command, mountMode, (double)cmd.param1, (double)cmd.param2);
|
||||
|
||||
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
|
||||
|
||||
/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
|
||||
roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
|
||||
pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
|
||||
yaw += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param3;
|
||||
|
||||
updated = true;
|
||||
|
||||
}
|
||||
|
||||
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && mountMode == VEHICLE_MOUNT_MODE_MAVLINK_TARGETING) {
|
||||
float gimbalDirectionQuat[] = {cmd.param1, cmd.param2, cmd.param3, cmd.param4};
|
||||
math::Vector<3> gimablDirectionEuler = math::Quaternion(gimbalDirectionQuat).to_dcm().to_euler();
|
||||
|
||||
roll += gimablDirectionEuler(0);
|
||||
pitch += gimablDirectionEuler(1);
|
||||
yaw += gimablDirectionEuler(2);
|
||||
|
||||
updated = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (updated) {
|
||||
|
||||
struct actuator_controls_s controls;
|
||||
|
||||
// debug("publishing | roll: %8.4f pitch: %8.4f yaw: %8.4f", (double)roll, (double)pitch, (double)yaw);
|
||||
|
||||
/* fill in the final control values */
|
||||
controls.timestamp = hrt_absolute_time();
|
||||
controls.control[0] = roll;
|
||||
controls.control[1] = pitch;
|
||||
controls.control[2] = yaw;
|
||||
|
||||
/* publish it */
|
||||
orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls);
|
||||
|
||||
}
|
||||
|
||||
/* notify anyone waiting for data */
|
||||
poll_notify(POLLIN);
|
||||
|
||||
perf_end(_sample_perf);
|
||||
|
||||
/* schedule a fresh cycle call when the measurement is done */
|
||||
work_queue(LPWORK,
|
||||
&_work,
|
||||
(worker_t)&Gimbal::cycle_trampoline,
|
||||
this,
|
||||
USEC2TICK(GIMBAL_UPDATE_INTERVAL));
|
||||
}
|
||||
|
||||
void
|
||||
Gimbal::print_info()
|
||||
{
|
||||
perf_print_counter(_sample_perf);
|
||||
perf_print_counter(_comms_errors);
|
||||
perf_print_counter(_buffer_overflows);
|
||||
}
|
||||
|
||||
/**
|
||||
* Local functions in support of the shell command.
|
||||
*/
|
||||
namespace gimbal
|
||||
{
|
||||
|
||||
/* oddly, ERROR is not defined for c++ */
|
||||
#ifdef ERROR
|
||||
# undef ERROR
|
||||
#endif
|
||||
const int ERROR = -1;
|
||||
|
||||
Gimbal *g_dev;
|
||||
|
||||
void start();
|
||||
void stop();
|
||||
void test();
|
||||
void reset();
|
||||
void info();
|
||||
|
||||
/**
|
||||
* Start the driver.
|
||||
*/
|
||||
void
|
||||
start()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
errx(1, "already started");
|
||||
}
|
||||
|
||||
/* create the driver */
|
||||
g_dev = new Gimbal();
|
||||
|
||||
if (g_dev == nullptr) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
if (OK != g_dev->init()) {
|
||||
goto fail;
|
||||
}
|
||||
|
||||
exit(0);
|
||||
|
||||
fail:
|
||||
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
}
|
||||
|
||||
errx(1, "driver start failed");
|
||||
}
|
||||
|
||||
/**
|
||||
* Stop the driver
|
||||
*/
|
||||
void stop()
|
||||
{
|
||||
if (g_dev != nullptr) {
|
||||
delete g_dev;
|
||||
g_dev = nullptr;
|
||||
|
||||
} else {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Perform some basic functional tests on the driver;
|
||||
* make sure we can collect data from the sensor in polled
|
||||
* and automatic modes.
|
||||
*/
|
||||
void
|
||||
test()
|
||||
{
|
||||
int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
|
||||
err(1, "failed enabling compensation");
|
||||
}
|
||||
|
||||
errx(0, "PASS");
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the driver.
|
||||
*/
|
||||
void
|
||||
reset()
|
||||
{
|
||||
int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
|
||||
|
||||
if (fd < 0) {
|
||||
err(1, "failed ");
|
||||
}
|
||||
|
||||
// if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
|
||||
// err(1, "failed enabling compensation");
|
||||
// }
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
/**
|
||||
* Print a little info about the driver.
|
||||
*/
|
||||
void
|
||||
info()
|
||||
{
|
||||
if (g_dev == nullptr) {
|
||||
errx(1, "driver not running");
|
||||
}
|
||||
|
||||
printf("state @ %p\n", g_dev);
|
||||
g_dev->print_info();
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
||||
int
|
||||
gimbal_main(int argc, char *argv[])
|
||||
{
|
||||
/*
|
||||
* Start/load the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
gimbal::start();
|
||||
}
|
||||
|
||||
/*
|
||||
* Stop the driver
|
||||
*/
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
gimbal::stop();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
gimbal::test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Reset the driver.
|
||||
*/
|
||||
if (!strcmp(argv[1], "reset")) {
|
||||
gimbal::reset();
|
||||
}
|
||||
|
||||
/*
|
||||
* Print driver information.
|
||||
*/
|
||||
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
|
||||
gimbal::info();
|
||||
}
|
||||
|
||||
errx(1, "unrecognized command, try 'start', 'stop', 'reset', 'test' or 'info'");
|
||||
}
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Makefile to build the gimbal high-level controller
|
||||
#
|
||||
|
||||
MODULE_COMMAND = gimbal
|
||||
|
||||
SRCS = gimbal.cpp
|
||||
|
||||
MAXOPTIMIZATION = -Os
|
||||
|
|
@ -38,6 +38,7 @@
|
|||
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
|
||||
* @author Julian Oes <joes@student.ethz.ch>
|
||||
* @author Lorenz Meier <lm@inf.ethz.ch>
|
||||
* @author Anton Matosov <anton.matosov@gmail.com>
|
||||
*/
|
||||
|
||||
#ifndef TOPIC_VEHICLE_COMMAND_H_
|
||||
|
|
@ -85,6 +86,15 @@ enum VEHICLE_CMD {
|
|||
VEHICLE_CMD_DO_REPEAT_SERVO = 184, /* Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_FLIGHTTERMINATION=185, /* Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_CONTROL_VIDEO = 200, /* Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_MOUNT_CONFIGURE=204, /* Mission command to configure a camera or antenna mount |Mount operation mode (see MAV_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_MOUNT_CONTROL=205, /* Mission command to control a camera or antenna mount |pitch or lat in degrees, depending on mount mode.| roll or lon in degrees depending on mount mode| yaw or alt (in meters) depending on mount mode| reserved| reserved| reserved| MAV_MOUNT_MODE enum value| */
|
||||
VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST=206, /* Mission command to set CAM_TRIGG_DIST for this flight |Camera trigger distance (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_FENCE_ENABLE=207, /* Mission command to enable the geofence |enable? (0=disable, 1=enable)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_PARACHUTE=208, /* Mission command to trigger a parachute |action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_INVERTED_FLIGHT=210, /* Change to/from inverted flight |inverted (0=normal, 1=inverted)| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT=220, /* Mission command to control a camera or antenna mount, using a quaternion as reference. |q1 - quaternion param #1, w (1 in null-rotation)| q2 - quaternion param #2, x (0 in null-rotation)| q3 - quaternion param #3, y (0 in null-rotation)| q4 - quaternion param #4, z (0 in null-rotation)| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_GUIDED_MASTER=221, /* set id of master controller |System ID| Component ID| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_GUIDED_LIMITS=222, /* set limits for external control |timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout| absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit| absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit| horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_DO_LAST = 240, /* NOP - This command is only used to mark the upper limit of the DO commands in the enumeration |Empty| Empty| Empty| Empty| Empty| Empty| Empty| */
|
||||
VEHICLE_CMD_PREFLIGHT_CALIBRATION = 241, /* Trigger calibration. This command will be only accepted if in pre-flight mode. |Gyro calibration: 0: no, 1: yes| Magnetometer calibration: 0: no, 1: yes| Ground pressure: 0: no, 1: yes| Radio calibration: 0: no, 1: yes| Accelerometer calibration: 0: no, 1: yes| Empty| Empty| */
|
||||
VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242, /* Set sensor offsets. This command will be only accepted if in pre-flight mode. |Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow| X axis offset (or generic dimension 1), in the sensor's raw units| Y axis offset (or generic dimension 2), in the sensor's raw units| Z axis offset (or generic dimension 3), in the sensor's raw units| Generic dimension 4, in the sensor's raw units| Generic dimension 5, in the sensor's raw units| Generic dimension 6, in the sensor's raw units| */
|
||||
|
|
@ -101,7 +111,7 @@ enum VEHICLE_CMD {
|
|||
/**
|
||||
* Commands for commander app.
|
||||
*
|
||||
* Should contain all of MAVLink's VEHICLE_CMD_RESULT values
|
||||
* Should contain all of MAVLink's MAV_CMD_RESULT values
|
||||
* but can contain additional ones.
|
||||
*/
|
||||
enum VEHICLE_CMD_RESULT {
|
||||
|
|
@ -113,6 +123,22 @@ enum VEHICLE_CMD_RESULT {
|
|||
VEHICLE_CMD_RESULT_ENUM_END = 5, /* | */
|
||||
};
|
||||
|
||||
/**
|
||||
* Commands for gimbal app.
|
||||
*
|
||||
* Should contain all of MAVLink's MAV_MOUNT_MODE values
|
||||
* but can contain additional ones.
|
||||
*/
|
||||
typedef enum VEHICLE_MOUNT_MODE
|
||||
{
|
||||
VEHICLE_MOUNT_MODE_RETRACT=0, /* Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization | */
|
||||
VEHICLE_MOUNT_MODE_NEUTRAL=1, /* Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. | */
|
||||
VEHICLE_MOUNT_MODE_MAVLINK_TARGETING=2, /* Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization | */
|
||||
VEHICLE_MOUNT_MODE_RC_TARGETING=3, /* Load neutral position and start RC Roll,Pitch,Yaw control with stabilization | */
|
||||
VEHICLE_MOUNT_MODE_GPS_POINT=4, /* Load neutral position and start to point to Lat,Lon,Alt | */
|
||||
VEHICLE_MOUNT_MODE_ENUM_END=5, /* | */
|
||||
} VEHICLE_MOUNT_MODE;
|
||||
|
||||
/**
|
||||
* @addtogroup topics
|
||||
* @{
|
||||
|
|
|
|||
Loading…
Reference in New Issue