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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 13:03:34 +08:00
Julian Oes
98fde4cbac
When we use a gimbal connected via "RC", so PWM via the Aux channels, we need to set the gimbal_device_id to 1 as per the protocol. This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and fixed the name of that variable while at it.
90 lines
3.3 KiB
C++
90 lines
3.3 KiB
C++
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* Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
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****************************************************************************/
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#pragma once
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#include "output.h"
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#include <uORB/Publication.hpp>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/gimbal_device_set_attitude.h>
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#include <uORB/topics/gimbal_device_information.h>
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#include <uORB/topics/gimbal_device_attitude_status.h>
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namespace gimbal
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{
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class OutputMavlinkV1 : public OutputBase
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{
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public:
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OutputMavlinkV1(const Parameters ¶meters);
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virtual ~OutputMavlinkV1() = default;
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virtual void update(const ControlData &control_data, bool new_setpoints, uint8_t &gimbal_device_id);
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virtual void print_status() const;
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private:
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void _stream_device_attitude_status();
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uORB::Publication<vehicle_command_s> _gimbal_v1_command_pub{ORB_ID(gimbal_v1_command)};
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uORB::Publication <gimbal_device_attitude_status_s> _attitude_status_pub{ORB_ID(gimbal_device_attitude_status)};
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ControlData::Type _previous_control_data_type {ControlData::Type::Neutral};
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};
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class OutputMavlinkV2 : public OutputBase
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{
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public:
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OutputMavlinkV2(const Parameters ¶meters);
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virtual ~OutputMavlinkV2() = default;
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virtual void update(const ControlData &control_data, bool new_setpoints, uint8_t &gimbal_device_id);
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virtual void print_status() const;
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private:
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void _publish_gimbal_device_set_attitude();
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void _request_gimbal_device_information();
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void _check_for_gimbal_device_information();
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uORB::Publication<gimbal_device_set_attitude_s> _gimbal_device_set_attitude_pub{ORB_ID(gimbal_device_set_attitude)};
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uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)};
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uint8_t _gimbal_device_id{0};
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hrt_abstime _last_gimbal_device_checked{0};
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bool _gimbal_device_found {false};
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};
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} /* namespace gimbal */
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