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vmount move usage() to bottom of file and format

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This commit is contained in:
Daniel Agar
2019-06-08 03:23:50 -07:00
committed by Lorenz Meier
parent 933dd1357e
commit c223de8a50
1 changed files with 39 additions and 37 deletions
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src/modules/vmount/vmount.cpp
+39 -37
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@@ -153,34 +153,6 @@ static bool get_params(ParameterHandles &param_handles, Parameters &params);
static int vmount_thread_main(int argc, char *argv[]); static int vmount_thread_main(int argc, char *argv[]);
extern "C" __EXPORT int vmount_main(int argc, char *argv[]); extern "C" __EXPORT int vmount_main(int argc, char *argv[]);
static void usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
output (eg. AUX channels or MAVLink).
Documentation how to use it is on the [gimbal_control](https://dev.px4.io/en/advanced/gimbal_control.html) page.
### Implementation
Each method is implemented in its own class, and there is a common base class for inputs and outputs.
They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method
can be used with each output method and new inputs/outputs can be added with minimal effort.
### Examples
Test the output by setting a fixed yaw angle (and the other axes to 0):
$ vmount stop
$ vmount test yaw 30
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("vmount", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test the output: set a fixed angle for one axis (vmount must not be running)");
PRINT_MODULE_USAGE_ARG("roll|pitch|yaw <angle>", "Specify an axis and an angle in degrees", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static int vmount_thread_main(int argc, char *argv[]) static int vmount_thread_main(int argc, char *argv[])
{ {
ParameterHandles param_handles; ParameterHandles param_handles;
@@ -283,13 +255,15 @@ static int vmount_thread_main(int argc, char *argv[])
// RC is on purpose last here so that if there are any mavlink // RC is on purpose last here so that if there are any mavlink
// messages, they will take precedence over RC. // messages, they will take precedence over RC.
// This logic is done further below while update() is called. // This logic is done further below while update() is called.
thread_data.input_objs[2] = new InputRC(params.mnt_do_stab, params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw); thread_data.input_objs[2] = new InputRC(params.mnt_do_stab, params.mnt_man_roll, params.mnt_man_pitch,
params.mnt_man_yaw);
thread_data.input_objs_len = 3; thread_data.input_objs_len = 3;
break; break;
case 1: //RC case 1: //RC
thread_data.input_objs[0] = new InputRC(params.mnt_do_stab, params.mnt_man_roll, params.mnt_man_pitch, params.mnt_man_yaw); thread_data.input_objs[0] = new InputRC(params.mnt_do_stab, params.mnt_man_roll, params.mnt_man_pitch,
params.mnt_man_yaw);
break; break;
case 2: //MAVLINK_ROI case 2: //MAVLINK_ROI
@@ -592,13 +566,13 @@ bool get_params(ParameterHandles &param_handles, Parameters &params)
param_handles.mnt_man_pitch == PARAM_INVALID || param_handles.mnt_man_pitch == PARAM_INVALID ||
param_handles.mnt_man_roll == PARAM_INVALID || param_handles.mnt_man_roll == PARAM_INVALID ||
param_handles.mnt_man_yaw == PARAM_INVALID || param_handles.mnt_man_yaw == PARAM_INVALID ||
param_handles.mnt_do_stab == PARAM_INVALID || param_handles.mnt_do_stab == PARAM_INVALID ||
param_handles.mnt_range_pitch == PARAM_INVALID || param_handles.mnt_range_pitch == PARAM_INVALID ||
param_handles.mnt_range_roll == PARAM_INVALID || param_handles.mnt_range_roll == PARAM_INVALID ||
param_handles.mnt_range_yaw == PARAM_INVALID || param_handles.mnt_range_yaw == PARAM_INVALID ||
param_handles.mnt_off_pitch == PARAM_INVALID || param_handles.mnt_off_pitch == PARAM_INVALID ||
param_handles.mnt_off_roll == PARAM_INVALID || param_handles.mnt_off_roll == PARAM_INVALID ||
param_handles.mnt_off_yaw == PARAM_INVALID) { param_handles.mnt_off_yaw == PARAM_INVALID) {
return false; return false;
} }
@@ -606,3 +580,31 @@ bool get_params(ParameterHandles &param_handles, Parameters &params)
update_params(param_handles, params, dummy); update_params(param_handles, params, dummy);
return true; return true;
} }
static void usage()
{
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Mount (Gimbal) control driver. It maps several different input methods (eg. RC or MAVLink) to a configured
output (eg. AUX channels or MAVLink).
Documentation how to use it is on the [gimbal_control](https://dev.px4.io/en/advanced/gimbal_control.html) page.
### Implementation
Each method is implemented in its own class, and there is a common base class for inputs and outputs.
They are connected via an API, defined by the `ControlData` data structure. This makes sure that each input method
can be used with each output method and new inputs/outputs can be added with minimal effort.
### Examples
Test the output by setting a fixed yaw angle (and the other axes to 0):
$ vmount stop
$ vmount test yaw 30
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("vmount", "driver");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_COMMAND_DESCR("test", "Test the output: set a fixed angle for one axis (vmount must not be running)");
PRINT_MODULE_USAGE_ARG("roll|pitch|yaw <angle>", "Specify an axis and an angle in degrees", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}