mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
ecd3a4a950
this allows a script which converts ArduPilot targets into a wire protocol to send to a gimbal to tell ArduPilot what sorts of targets the script/gimbal can understand. For example, if the gimbal being controlled can understand a lat/lng/alt, the script can tell ArduPilot that with the new method call.
81 lines
2.6 KiB
C++
81 lines
2.6 KiB
C++
/*
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Scripting mount/gimbal driver
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*/
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#pragma once
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#include "AP_Mount_config.h"
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#if HAL_MOUNT_SCRIPTING_ENABLED
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#include "AP_Mount_Backend.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Common/AP_Common.h>
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class AP_Mount_Scripting : public AP_Mount_Backend
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{
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public:
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// Constructor
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using AP_Mount_Backend::AP_Mount_Backend;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Mount_Scripting);
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// update mount position - should be called periodically
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void update() override;
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// return true if healthy
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bool healthy() const override;
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// has_pan_control - returns true if this mount can control its pan (required for multicopters)
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bool has_pan_control() const override { return yaw_range_valid(); };
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// accessors for scripting backends
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void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) override;
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// get target rate in deg/sec. returns true on success
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bool get_rate_target(float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame) override;
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// get target angle in deg. returns true on success
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bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame) override;
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protected:
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void set_natively_supported_mount_target_types(uint8_t types_mask) override {
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supported_target_types_mask = types_mask;
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}
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// Scripting doesn't actually send anything (the script polls the
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// library for the targets)
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uint8_t natively_supported_mount_target_types() const override {
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return supported_target_types_mask;
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};
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void send_target_angles(const MountAngleTarget &angle_rad) override;
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void send_target_rates(const MountRateTarget &rate_rads) override;
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// get attitude as a quaternion. returns true on success
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bool get_attitude_quaternion(Quaternion& att_quat) override;
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private:
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enum class ScriptTargetType : uint8_t {
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NONE = 0,
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ANGLE = 1,
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RATE = 2,
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};
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// internal variables
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uint32_t last_update_ms; // system time of last call to one of the get_ methods. Used for health reporting
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Vector3f current_angle_deg; // current gimbal angles in degrees (x=roll, y=pitch, z=yaw)
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ScriptTargetType _script_target_type {ScriptTargetType::NONE};
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MountAngleTarget _angle_target {}; // last angle target pushed by send_target_angles()
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MountRateTarget _rate_target {}; // last rate target pushed by send_target_rates()
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uint8_t supported_target_types_mask = NATIVE_ANGLES_AND_RATES_ONLY;
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};
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#endif // HAL_MOUNT_SCRIPTING_ENABLED
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