Rename vmount to gimbal

2026-07-09 02:40:34 +08:00 · 2022-02-04 15:26:48 +01:00
parent 853047c643
commit 490a0c473b
63 changed files with 106 additions and 106 deletions
@@ -0,0 +1,222 @@
+/****************************************************************************
+*
+*   Copyright (c) 2016-2022 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.
+*
+****************************************************************************/
+
+
+#include "input_rc.h"
+
+#include <math.h>
+#include <errno.h>
+#include <mathlib/mathlib.h>
+#include <matrix/matrix/math.hpp>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/defines.h>
+
+
+namespace gimbal
+{
+
+InputRC::InputRC(Parameters &parameters) :
+	InputBase(parameters)
+{}
+
+InputRC::~InputRC()
+{
+	if (_manual_control_setpoint_sub >= 0) {
+		orb_unsubscribe(_manual_control_setpoint_sub);
+	}
+}
+
+int InputRC::initialize()
+{
+	_manual_control_setpoint_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
+
+	if (_manual_control_setpoint_sub < 0) {
+		return -errno;
+	}
+
+	return 0;
+}
+
+InputRC::UpdateResult InputRC::update(unsigned int timeout_ms, ControlData &control_data, bool already_active)
+{
+	px4_pollfd_struct_t polls[1];
+	polls[0].fd = 		_manual_control_setpoint_sub;
+	polls[0].events = 	POLLIN;
+
+	int ret = px4_poll(polls, 1, timeout_ms);
+
+	if (ret < 0) {
+		return UpdateResult::NoUpdate;
+	}
+
+	if (ret == 0) {
+		// If we have been active before, we stay active, unless someone steals
+		// the control away.
+		if (already_active) {
+			return UpdateResult::UpdatedActive;
+		}
+	}
+
+	if (polls[0].revents & POLLIN) {
+		return _read_control_data_from_subscription(control_data, already_active);
+	}
+
+	return UpdateResult::NoUpdate;
+}
+
+InputRC::UpdateResult InputRC::_read_control_data_from_subscription(ControlData &control_data, bool already_active)
+{
+	manual_control_setpoint_s manual_control_setpoint{};
+	orb_copy(ORB_ID(manual_control_setpoint), _manual_control_setpoint_sub, &manual_control_setpoint);
+	control_data.type = ControlData::Type::Angle;
+
+	float new_aux_values[3];
+
+	for (int i = 0; i < 3; ++i) {
+		new_aux_values[i] = _get_aux_value(manual_control_setpoint, i);
+	}
+
+	// If we were already active previously, we just update normally. Otherwise, there needs to be
+	// a major stick movement to re-activate manual (or it's running for the very first time).
+
+	// Detect a big stick movement
+	const bool major_movement = [&]() {
+		for (int i = 0; i < 3; ++i) {
+			if (fabsf(_last_set_aux_values[i] - new_aux_values[i]) > 0.25f) {
+				return true;
+			}
+		}
+
+		return false;
+	}();
+
+	if (already_active || major_movement) {
+		control_data.sysid_primary_control = _parameters.mav_sysid;
+		control_data.compid_primary_control = _parameters.mav_compid;
+
+		if (_parameters.mnt_rc_in_mode == 0) {
+			// We scale manual input from roll -180..180, pitch -90..90, yaw, -180..180 degrees.
+			matrix::Eulerf euler(new_aux_values[0] * math::radians(180.f),
+					     new_aux_values[1] * math::radians(90.f),
+					     new_aux_values[2] * math::radians(180.f));
+
+			matrix::Quatf q(euler);
+			q.copyTo(control_data.type_data.angle.q);
+
+			control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
+			control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngleAbsoluteFrame;
+			control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngleBodyFrame;
+
+			control_data.type_data.angle.angular_velocity[0] = NAN;
+			control_data.type_data.angle.angular_velocity[1] = NAN;
+			control_data.type_data.angle.angular_velocity[2] = NAN;
+
+		} else {
+			control_data.type_data.angle.q[0] = NAN;
+			control_data.type_data.angle.q[1] = NAN;
+			control_data.type_data.angle.q[2] = NAN;
+			control_data.type_data.angle.q[3] = NAN;
+
+			control_data.type_data.angle.angular_velocity[0] = 0.f;
+			control_data.type_data.angle.angular_velocity[1] = math::radians(_parameters.mnt_rate_pitch) * new_aux_values[1];
+			control_data.type_data.angle.angular_velocity[2] = math::radians(_parameters.mnt_rate_yaw) * new_aux_values[2];
+
+			control_data.type_data.angle.frames[0] = ControlData::TypeData::TypeAngle::Frame::AngularRate;
+			control_data.type_data.angle.frames[1] = ControlData::TypeData::TypeAngle::Frame::AngularRate;
+			control_data.type_data.angle.frames[2] = ControlData::TypeData::TypeAngle::Frame::AngularRate;
+		}
+
+		for (int i = 0; i < 3; ++i) {
+			// We always use follow mode with RC input for now.
+			_last_set_aux_values[i] = new_aux_values[i];
+		}
+
+		control_data.gimbal_shutter_retract = false;
+
+		return UpdateResult::UpdatedActive;
+
+	} else {
+		return UpdateResult::NoUpdate;
+	}
+}
+
+float InputRC::_get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx)
+{
+	int32_t aux_channel = [&]() {
+		switch (channel_idx) {
+		case 0:
+			return _parameters.mnt_man_roll;
+
+		case 1:
+			return _parameters.mnt_man_pitch;
+
+		case 2:
+			return _parameters.mnt_man_yaw;
+
+		default:
+			return int32_t(0);
+		}
+	}();
+
+	switch (aux_channel) {
+
+	case 1:
+		return manual_control_setpoint.aux1;
+
+	case 2:
+		return manual_control_setpoint.aux2;
+
+	case 3:
+		return manual_control_setpoint.aux3;
+
+	case 4:
+		return manual_control_setpoint.aux4;
+
+	case 5:
+		return manual_control_setpoint.aux5;
+
+	case 6:
+		return manual_control_setpoint.aux6;
+
+	default:
+		return 0.0f;
+	}
+}
+
+void InputRC::print_status() const
+{
+	PX4_INFO("Input: RC (channels: roll=%" PRIi32 ", pitch=%" PRIi32 ", yaw=%" PRIi32 ")", _parameters.mnt_man_roll,
+		 _parameters.mnt_man_pitch, _parameters.mnt_man_yaw);
+}
+
+} /* namespace gimbal */