Line data    Source code

       1             : /*
       2             :   CADDX mount using serial protocol backend class
       3             :  */
       4             : #pragma once
       5             : 
       6             : #include "AP_Mount_config.h"
       7             : 
       8             : #if HAL_MOUNT_CADDX_ENABLED
       9             : 
      10             : #include "AP_Mount_Backend_Serial.h"
      11             : #include <AP_Math/quaternion.h>
      12             : 
      13             : class AP_Mount_CADDX : public AP_Mount_Backend_Serial
      14             : {
      15             : 
      16             : public:
      17             :     // Constructor
      18             :     using AP_Mount_Backend_Serial::AP_Mount_Backend_Serial;
      19             : 
      20             :     // update mount position - should be called periodically
      21             :     void update() override;
      22             : 
      23             :     // has_pan_control - returns true if this mount can control its pan (required for multicopters)
      24           0 :     bool has_pan_control() const override { return yaw_range_valid(); };
      25             : 
      26             :     // has_roll_control - returns true if this mount can control its roll
      27           0 :     bool has_roll_control() const override { return roll_range_valid(); };
      28             : 
      29             :     // has_pitch_control - returns true if this mount can control its tilt
      30           0 :     bool has_pitch_control() const override { return pitch_range_valid(); };
      31             : 
      32             : protected:
      33             : 
      34             :     // get attitude as a quaternion.  returns true on success
      35             :     bool get_attitude_quaternion(Quaternion& att_quat) override;
      36             : 
      37             : private:
      38             : 
      39             :     // lock mode enum
      40             :     enum class LockMode {
      41             :         PITCH_LOCK = (1<<0),
      42             :         ROLL_LOCK  = (1<<1),
      43             :         YAW_LOCK   = (1<<2),
      44             :     };
      45             : 
      46             :     // CADDX can only send angles
      47           0 :     uint8_t natively_supported_mount_target_types() const override {
      48           0 :         return NATIVE_ANGLES_ONLY;
      49             :     };
      50             : 
      51             :     // send_target_angles
      52             :     void send_target_angles(const MountAngleTarget& angle_target_rad) override;
      53             : };
      54             : #endif // HAL_MOUNT_CADDX_ENABLED