input_mavlink.h
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/****************************************************************************
*
* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file input_mavlink.h
* @author Beat Küng <beat-kueng@gmx.net>
*
*/
#pragma once
#include "input.h"
#include "input_rc.h"
#include <cstdint>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/gimbal_device_attitude_status.h>
#include <uORB/topics/gimbal_manager_information.h>
#include <uORB/topics/gimbal_manager_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_roi.h>
#include <uORB/topics/vehicle_global_position.h>
#include <lib/ecl/geo/geo.h>
namespace vmount
{
/**
** class InputMavlinkROI
** Input based on the vehicle_roi topic
*/
class InputMavlinkROI : public InputBase
{
public:
InputMavlinkROI() = default;
virtual ~InputMavlinkROI();
virtual void print_status();
protected:
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
virtual int initialize();
private:
void _read_control_data_from_position_setpoint_sub();
int _vehicle_roi_sub = -1;
int _position_setpoint_triplet_sub = -1;
uint8_t _cur_roi_mode {vehicle_roi_s::ROI_NONE};
};
/**
** class InputMavlinkCmdMount
** Input based on the VEHICLE_CMD_DO_MOUNT_CONTROL mavlink command
*/
class InputMavlinkCmdMount : public InputBase
{
public:
InputMavlinkCmdMount();
virtual ~InputMavlinkCmdMount();
virtual void print_status();
protected:
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
virtual int initialize();
private:
void _ack_vehicle_command(vehicle_command_s *cmd);
int _vehicle_command_sub = -1;
int32_t _mav_sys_id{1}; ///< our mavlink system id
int32_t _mav_comp_id{1}; ///< our mavlink component id
};
class InputMavlinkGimbalV2 : public InputBase
{
public:
InputMavlinkGimbalV2(uint8_t mav_sys_id, uint8_t mav_comp_id, float &mnt_rate_pitch, float &mnt_rate_yaw);
virtual ~InputMavlinkGimbalV2();
virtual void print_status();
protected:
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
virtual int initialize();
private:
void _set_control_data_from_set_attitude(const uint32_t flags, const matrix::Quatf &q,
const matrix::Vector3f &angular_velocity);
void _ack_vehicle_command(vehicle_command_s *cmd, uint8_t result);
void _stream_gimbal_manager_information();
void _stream_gimbal_manager_status();
void _read_control_data_from_position_setpoint_sub();
int _vehicle_roi_sub = -1;
int _gimbal_manager_set_attitude_sub = -1;
int _gimbal_manager_set_manual_control_sub = -1;
int _position_setpoint_triplet_sub = -1;
int _vehicle_command_sub = -1;
uint8_t _mav_sys_id{1}; ///< our mavlink system id
uint8_t _mav_comp_id{1}; ///< our mavlink component id
uint8_t _sys_id_primary_control{0};
uint8_t _comp_id_primary_control{0};
float &_mnt_rate_pitch;
float &_mnt_rate_yaw;
uORB::Subscription _gimbal_device_attitude_status_sub{ORB_ID(gimbal_device_attitude_status)};
uORB::Subscription _vehicle_global_position_sub{ORB_ID(vehicle_global_position)};
uORB::Publication<gimbal_manager_information_s> _gimbal_manager_info_pub{ORB_ID(gimbal_manager_information)};
uORB::Publication<gimbal_manager_status_s> _gimbal_manager_status_pub{ORB_ID(gimbal_manager_status)};
uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;
};
} /* namespace vmount */