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https://github.com/ArduPilot/ardupilot.git
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99 lines
3.2 KiB
C++
99 lines
3.2 KiB
C++
#include "AP_Mount_config.h"
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#if HAL_MOUNT_SCRIPTING_ENABLED
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#include "AP_Mount_Scripting.h"
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#include <AP_HAL/AP_HAL.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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#define AP_MOUNT_SCRIPTING_TIMEOUT_MS 1000 // scripting mount becomes unhealthy after 1sec with no updates
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#define AP_MOUNT_SCRIPTING_DEBUG 0
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#define debug(fmt, args ...) do { if (AP_MOUNT_SCRIPTING_DEBUG) { GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Scripting: " fmt, ## args); } } while (0)
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// update mount position - should be called periodically
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void AP_Mount_Scripting::update()
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{
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AP_Mount_Backend::update();
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// reset script target type so get_angle_target / get_rate_target return
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// false until send_target_to_gimbal() writes a fresh target this cycle
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_script_target_type = ScriptTargetType::NONE;
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update_mnt_target();
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send_target_to_gimbal();
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}
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// return true if healthy
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bool AP_Mount_Scripting::healthy() const
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{
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// healthy if scripting backend has updated actual angles recently
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return (AP_HAL::millis() - last_update_ms <= AP_MOUNT_SCRIPTING_TIMEOUT_MS);
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}
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// update mount's actual angles (to be called by script communicating with mount)
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void AP_Mount_Scripting::set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg)
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{
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last_update_ms = AP_HAL::millis();
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current_angle_deg.x = roll_deg;
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current_angle_deg.y = pitch_deg;
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current_angle_deg.z = yaw_bf_deg;
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}
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// called by send_target_to_gimbal() with the angle target for this cycle.
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// Store it so get_angle_target() can return it to the Lua script.
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void AP_Mount_Scripting::send_target_angles(const MountAngleTarget &angle_rad)
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{
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_angle_target = angle_rad;
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_script_target_type = ScriptTargetType::ANGLE;
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}
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// called by send_target_to_gimbal() with the rate target for this cycle.
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// Store it so get_rate_target() can return it to the Lua script.
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void AP_Mount_Scripting::send_target_rates(const MountRateTarget &rate_rads)
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{
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_rate_target = rate_rads;
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_script_target_type = ScriptTargetType::RATE;
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}
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// get target angle in deg. returns true on success
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bool AP_Mount_Scripting::get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame)
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{
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if (_script_target_type != ScriptTargetType::ANGLE) {
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return false;
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}
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roll_deg = degrees(_angle_target.roll);
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pitch_deg = degrees(_angle_target.pitch);
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yaw_deg = degrees(_angle_target.yaw);
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yaw_is_earth_frame = _angle_target.yaw_is_ef;
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return true;
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}
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// get target rate in deg/sec. returns true on success
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bool AP_Mount_Scripting::get_rate_target(float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame)
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{
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if (_script_target_type != ScriptTargetType::RATE) {
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return false;
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}
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roll_degs = degrees(_rate_target.roll);
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pitch_degs = degrees(_rate_target.pitch);
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yaw_degs = degrees(_rate_target.yaw);
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yaw_is_earth_frame = _rate_target.yaw_is_ef;
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return true;
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}
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// get attitude as a quaternion. returns true on success
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bool AP_Mount_Scripting::get_attitude_quaternion(Quaternion& att_quat)
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{
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// construct quaternion
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att_quat.from_euler(radians(current_angle_deg.x), radians(current_angle_deg.y), radians(current_angle_deg.z));
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return true;
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}
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#endif // HAL_MOUNT_SCRIPTING_ENABLED
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