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Gimbal: remove shutter and retraction handling 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-03-22 14:59:30 +01:00 committed by Beat Küng
parent 18898f1876
commit ac6c9c857a
10 changed files with 0 additions and 52 deletions
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2
msg/GimbalControls.msg
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@ -5,5 +5,3 @@ uint8 INDEX_YAW = 2
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[3] control
float32 retract_gimbal

2
src/modules/gimbal/common.h
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@ -78,8 +78,6 @@ struct ControlData {
Type type = Type::Neutral;
bool gimbal_shutter_retract = false; // whether to lock the gimbal (only in RC output mode)
uint8_t sysid_primary_control = 0; // The MAVLink system ID selected to be in control, 0 for no one.
uint8_t compid_primary_control = 0; // The MAVLink component ID selected to be in control, 0 for no one.
// uint8_t sysid_secondary_control = 0; // The MAVLink system ID selected for additional input, not implemented yet.

6
src/modules/gimbal/gimbal.cpp
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@ -449,8 +449,6 @@ void update_params(ParameterHandles &param_handles, Parameters &params)
param_get(param_handles.mnt_mode_out, &params.mnt_mode_out);
param_get(param_handles.mnt_mav_sysid_v1, &params.mnt_mav_sysid_v1);
param_get(param_handles.mnt_mav_compid_v1, &params.mnt_mav_compid_v1);
param_get(param_handles.mnt_ob_lock_mode, &params.mnt_ob_lock_mode);
param_get(param_handles.mnt_ob_norm_mode, &params.mnt_ob_norm_mode);
param_get(param_handles.mnt_man_pitch, &params.mnt_man_pitch);
param_get(param_handles.mnt_man_roll, &params.mnt_man_roll);
param_get(param_handles.mnt_man_yaw, &params.mnt_man_yaw);
@ -476,8 +474,6 @@ bool initialize_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mnt_mode_out = param_find("MNT_MODE_OUT");
param_handles.mnt_mav_sysid_v1 = param_find("MNT_MAV_SYSID");
param_handles.mnt_mav_compid_v1 = param_find("MNT_MAV_COMPID");
param_handles.mnt_ob_lock_mode = param_find("MNT_OB_LOCK_MODE");
param_handles.mnt_ob_norm_mode = param_find("MNT_OB_NORM_MODE");
param_handles.mnt_man_pitch = param_find("MNT_MAN_PITCH");
param_handles.mnt_man_roll = param_find("MNT_MAN_ROLL");
param_handles.mnt_man_yaw = param_find("MNT_MAN_YAW");
@ -500,8 +496,6 @@ bool initialize_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mnt_mode_out == PARAM_INVALID ||
param_handles.mnt_mav_sysid_v1 == PARAM_INVALID ||
param_handles.mnt_mav_compid_v1 == PARAM_INVALID ||
param_handles.mnt_ob_lock_mode == PARAM_INVALID ||
param_handles.mnt_ob_norm_mode == PARAM_INVALID ||
param_handles.mnt_man_pitch == PARAM_INVALID ||
param_handles.mnt_man_roll == PARAM_INVALID ||
param_handles.mnt_man_yaw == PARAM_INVALID ||

24
src/modules/gimbal/gimbal_params.c
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@ -88,30 +88,6 @@ PARAM_DEFINE_INT32(MNT_MAV_SYSID, 1);
*/
PARAM_DEFINE_INT32(MNT_MAV_COMPID, 154);
/**
* Mixer value for selecting normal mode
*
* if required by the gimbal (only in AUX output mode)
*
* @min -1.0
* @max 1.0
* @decimal 3
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OB_NORM_MODE, -1.0f);
/**
* Mixer value for selecting a locking mode
*
* if required for the gimbal (only in AUX output mode)
*
* @min -1.0
* @max 1.0
* @decimal 3
* @group Mount
*/
PARAM_DEFINE_FLOAT(MNT_OB_LOCK_MODE, 0.0f);
/**
* Auxiliary channel to control roll (in AUX input or manual mode).
*

4
src/modules/gimbal/gimbal_params.h
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@ -45,8 +45,6 @@ struct Parameters {
int32_t mnt_mode_out;
int32_t mnt_mav_sysid_v1;
int32_t mnt_mav_compid_v1;
float mnt_ob_lock_mode;
float mnt_ob_norm_mode;
int32_t mnt_man_pitch;
int32_t mnt_man_roll;
int32_t mnt_man_yaw;
@ -71,8 +69,6 @@ struct ParameterHandles {
param_t mnt_mode_out;
param_t mnt_mav_sysid_v1;
param_t mnt_mav_compid_v1;
param_t mnt_ob_lock_mode;
param_t mnt_ob_norm_mode;
param_t mnt_man_pitch;
param_t mnt_man_roll;
param_t mnt_man_yaw;

4
src/modules/gimbal/input_mavlink.cpp
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@ -257,7 +257,6 @@ InputMavlinkCmdMount::_process_command(ControlData &control_data, const vehicle_
switch ((int) vehicle_command.param7) {
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
control_data.gimbal_shutter_retract = true;
// fallthrough
case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
@ -606,8 +605,6 @@ InputMavlinkGimbalV2::UpdateResult InputMavlinkGimbalV2::_process_set_attitude(C
InputMavlinkGimbalV2::UpdateResult InputMavlinkGimbalV2::_process_vehicle_roi(ControlData &control_data,
const vehicle_roi_s &vehicle_roi)
{
control_data.gimbal_shutter_retract = false;
if (vehicle_roi.mode == vehicle_roi_s::ROI_NONE) {
control_data.type = ControlData::Type::Neutral;
@ -679,7 +676,6 @@ InputMavlinkGimbalV2::_process_command(ControlData &control_data, const vehicle_
switch ((int) vehicle_command.param7) {
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
control_data.gimbal_shutter_retract = true;
// fallthrough

2
src/modules/gimbal/input_rc.cpp
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@ -161,8 +161,6 @@ InputRC::UpdateResult InputRC::_read_control_data_from_subscription(ControlData
_last_set_aux_values[i] = new_aux_values[i];
}
control_data.gimbal_shutter_retract = false;
return UpdateResult::UpdatedActive;
} else {

2
src/modules/gimbal/input_test.cpp
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@ -66,8 +66,6 @@ InputTest::UpdateResult InputTest::update(unsigned int timeout_ms, ControlData &
q.copyTo(control_data.type_data.angle.q);
control_data.gimbal_shutter_retract = false;
control_data.type_data.angle.angular_velocity[0] = NAN;
control_data.type_data.angle.angular_velocity[1] = NAN;
control_data.type_data.angle.angular_velocity[2] = NAN;

4
src/modules/gimbal/output_rc.cpp
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@ -51,7 +51,6 @@ OutputRC::OutputRC(const Parameters &parameters)
void OutputRC::update(const ControlData &control_data, bool new_setpoints)
{
if (new_setpoints) {
_retract_gimbal = control_data.gimbal_shutter_retract;
_set_angle_setpoints(control_data);
}
@ -76,9 +75,6 @@ void OutputRC::update(const ControlData &control_data, bool new_setpoints)
(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)) *
(1.0f / (math::radians(_parameters.mnt_range_yaw / 2.0f))),
-1.f, 1.f);
gimbal_controls.retract_gimbal = constrain(
_retract_gimbal ? _parameters.mnt_ob_lock_mode : _parameters.mnt_ob_norm_mode,
-1.f, 1.f);
gimbal_controls.timestamp = hrt_absolute_time();
_gimbal_controls_pub.publish(gimbal_controls);

2
src/modules/gimbal/output_rc.h
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@ -58,8 +58,6 @@ private:
uORB::Publication <gimbal_controls_s> _gimbal_controls_pub{ORB_ID(gimbal_controls)};
uORB::Publication <gimbal_device_attitude_status_s> _attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};
bool _retract_gimbal = true;
};
} /* namespace gimbal */