common.h
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/****************************************************************************
*
* Copyright (c) 2016 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 common.h
* @author Beat Küng <beat-kueng@gmx.net>
*
*/
#pragma once
#include <stdint.h>
namespace vmount
{
/**
* @struct ControlData
* This defines the common API between an input and an output of the vmount driver.
* Each output must support the (full) set of the commands, and an input can create all
* or a subset of the types.
*/
struct ControlData {
enum class Type : uint8_t {
Neutral = 0, /**< move to neutral position */
Angle, /**< control the roll, pitch & yaw angle directly */
LonLat /**< control via lon, lat */
};
Type type = Type::Neutral;
union TypeData {
struct TypeAngle {
float q[4]; /**< attitude quaternion */
float angular_velocity[3]; // angular velocity
// according to DO_MOUNT_CONFIGURE
enum class Frame : uint8_t {
AngleBodyFrame = 0, /**< Follow mode, angle relative to vehicle (usually default for yaw axis). */
AngularRate = 1, /**< Angular rate set only, for compatibility with MAVLink v1 protocol. */
AngleAbsoluteFrame = 2/**< Lock mode, angle relative to horizon/world, lock mode. (usually default for roll and pitch). */
} frames[3]; /**< Mode. */
} angle;
struct TypeLonLat {
double lon; /**< longitude in [deg] */
double lat; /**< latitude in [deg] */
float altitude; /**< altitude in [m] */
float roll_angle; /**< roll is set to a fixed angle. Set to 0 for level horizon [rad] */
float pitch_angle_offset; /**< angular offset for pitch [rad] */
float yaw_angle_offset; /**< angular offset for yaw [rad] */
float pitch_fixed_angle; /**< ignored if < -pi, otherwise use a fixed pitch angle instead of the altitude */
} lonlat;
} type_data;
bool stabilize_axis[3] = { false, false, false }; /**< whether the vmount driver should stabilize an axis
(if the output supports it, this can also be done externally) */
bool gimbal_shutter_retract = false; /**< whether to lock the gimbal (only in RC output mode) */
};
} /* namespace vmount */