Line data    Source code

       1             : /*
       2             :   SToRM32 mount backend class
       3             :  */
       4             : #pragma once
       5             : 
       6             : #include "AP_Mount_config.h"
       7             : 
       8             : #if HAL_MOUNT_STORM32MAVLINK_ENABLED
       9             : 
      10             : #include "AP_Mount_Backend.h"
      11             : 
      12             : #include <AP_Math/AP_Math.h>
      13             : #include <AP_Common/AP_Common.h>
      14             : 
      15             : class AP_Mount_SToRM32 : public AP_Mount_Backend
      16             : {
      17             : 
      18             : public:
      19             :     // Constructor
      20             :     using AP_Mount_Backend::AP_Mount_Backend;
      21             : 
      22             :     // update mount position - should be called periodically
      23             :     void update() override;
      24             : 
      25             :     // has_pan_control - returns true if this mount can control its pan (required for multicopters)
      26           0 :     bool has_pan_control() const override { return yaw_range_valid(); }
      27             : 
      28             : protected:
      29             : 
      30             :     // get attitude as a quaternion.  returns true on success
      31             :     bool get_attitude_quaternion(Quaternion& att_quat) override;
      32             : 
      33             : private:
      34             : 
      35             :     // search for gimbal in GCS_MAVLink routing table
      36             :     void find_gimbal();
      37             : 
      38             :     // SToRM32 can only send angles:
      39           0 :     uint8_t natively_supported_mount_target_types() const override {
      40           0 :         return NATIVE_ANGLES_ONLY;
      41             :     };
      42             :     
      43             :     // allow removing lean angles for pitch and roll locks
      44           0 :     bool apply_bf_roll_pitch_adjustments_in_rc_targeting() const override {
      45           0 :         return true;
      46             :     }
      47             : 
      48             :     // send_do_mount_control with latest angle targets
      49             :     void send_target_angles(const MountAngleTarget& angle_target_rad) override;
      50             : 
      51             :     // internal variables
      52             :     bool _initialised;              // true once the driver has been initialised
      53             :     uint8_t _sysid;                 // sysid of gimbal
      54             :     uint8_t _compid;                // component id of gimbal
      55             :     mavlink_channel_t _chan = MAVLINK_COMM_0;        // mavlink channel used to communicate with gimbal
      56             : };
      57             : #endif // HAL_MOUNT_STORM32MAVLINK_ENABLED