Line data    Source code

       1             : /*
       2             :   MAVLink enabled mount backend class
       3             :  */
       4             : #pragma once
       5             : 
       6             : #include "AP_Mount_config.h"
       7             : 
       8             : #if HAL_SOLO_GIMBAL_ENABLED
       9             : 
      10             : #include "AP_Mount_Backend.h"
      11             : #include <AP_Math/AP_Math.h>
      12             : #include <AP_Common/AP_Common.h>
      13             : #include <GCS_MAVLink/GCS_MAVLink.h>
      14             : #include "SoloGimbal.h"
      15             : 
      16             : class AP_Mount_SoloGimbal : public AP_Mount_Backend
      17             : {
      18             : 
      19             : public:
      20             :     // Constructor
      21             :     AP_Mount_SoloGimbal(AP_Mount &frontend, AP_Mount_Params &params, uint8_t instance);
      22             : 
      23             :     // init - performs any required initialisation for this instance
      24             :     void init() override;
      25             : 
      26             :     // update mount position - should be called periodically
      27             :     void update() override;
      28             : 
      29             :     // has_pan_control - returns true if this mount can control its pan (required for multicopters)
      30           6 :     bool has_pan_control() const override { return false; }
      31             : 
      32             :     // handle a GIMBAL_REPORT message
      33             :     void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) override;
      34             :     void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg);
      35             :     void handle_param_value(const mavlink_message_t &msg) override;
      36             : 
      37             :     void update_fast() override;
      38             : 
      39             : protected:
      40             : 
      41             :     // returns true if heart beat should be suppressed for this gimbal
      42        1023 :     bool suppress_heartbeat() const override { return true; }
      43             : 
      44             :     // get attitude as a quaternion.  returns true on success
      45             :     bool get_attitude_quaternion(Quaternion& att_quat) override;
      46             : 
      47             : private:
      48             :     // internal variables
      49             :     bool _initialised;              // true once the driver has been initialised
      50             : 
      51             :     // Write a gimbal measurament and estimation data packet
      52             :     void Log_Write_Gimbal(SoloGimbal &gimbal);
      53             : 
      54             :     bool _params_saved;
      55             :     SoloGimbal _gimbal;
      56             : };
      57             : 
      58             : #endif // HAL_SOLO_GIMBAL_ENABLED