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added new parameter to enable/disable enforcing mount operation mode

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This commit is contained in:
Andreas Antener
2015-10-19 21:47:40 +02:00
parent 7a31a8b1af
commit 9252414c76
2 changed files with 37 additions and 19 deletions
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src/drivers/gimbal/gimbal.cpp
+22 -15
View File
@@ -148,10 +148,12 @@ private:
struct {
int aux_mnt_chn;
int use_mnt;
} _parameters;
struct {
param_t aux_mnt_chn;
param_t use_mnt;
} _params_handles;
/**
@@ -214,6 +216,7 @@ Gimbal::Gimbal() :
_debug_enabled = false;
_params_handles.aux_mnt_chn = param_find("GMB_AUX_MNT_CHN");
_params_handles.use_mnt = param_find("GMB_USE_MNT");
update_params();
// work_cancel in the dtor will explode if we don't do this...
@@ -299,6 +302,7 @@ void
Gimbal::update_params()
{
param_get(_params_handles.aux_mnt_chn, &_parameters.aux_mnt_chn);
param_get(_params_handles.use_mnt, &_parameters.use_mnt);
}
void
@@ -488,23 +492,26 @@ Gimbal::cycle()
}
switch (_mount_mode) {
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
out_mount_mode = -1.0f;
roll = 0.0f;
pitch = 0.0f;
yaw = 0.0f;
break;
/* consider mount mode if parameter is set */
if (_parameters.use_mnt > 0) {
switch (_mount_mode) {
case vehicle_command_s::VEHICLE_MOUNT_MODE_RETRACT:
out_mount_mode = -1.0f;
roll = 0.0f;
pitch = 0.0f;
yaw = 0.0f;
break;
case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING:
case vehicle_command_s::VEHICLE_MOUNT_MODE_RC_TARGETING:
case vehicle_command_s::VEHICLE_MOUNT_MODE_GPS_POINT:
out_mount_mode = 1.0f;
break;
case vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL:
case vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING:
case vehicle_command_s::VEHICLE_MOUNT_MODE_RC_TARGETING:
case vehicle_command_s::VEHICLE_MOUNT_MODE_GPS_POINT:
out_mount_mode = 1.0f;
break;
default:
out_mount_mode = -1.0f;
default:
out_mount_mode = -1.0f;
}
}
if (updated) {
src/drivers/gimbal/gimbal_params.c
+15 -4
View File
@@ -43,14 +43,25 @@
#include <systemlib/param/param.h>
/**
* Consider mount operation mode.
*
* If set to 1, mount mode will be enforced.
*
* @min 0
* @max 1
* @group Gimbal
*/
PARAM_DEFINE_INT32(GMB_USE_MNT, 0);
/**
* Auxilary switch to use for mount control.
* Auxilary switch to set mount operation mode.
*
* Set to 0 to disable manual mount control.
* Set to 0 to disable manual mode control.
*
* Mount control off means the gimbal is put into safe/locked position.
* Mount control on means the gimbal can move freely, and landing gear
* If set to an auxilary switch:
* Switch off means the gimbal is put into safe/locked position.
* Switch on means the gimbal can move freely, and landing gear
* will be retracted if applicable.
*
* @min 0