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db09a1386f
We use the stabilize param to set the input. Like this the input flags can be changed using the configure message later, and then eventually used in the output.
87 lines
3.1 KiB
C++
87 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file input.cpp
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#include "input.h"
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namespace vmount
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{
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int InputBase::update(unsigned int timeout_ms, ControlData **control_data, bool already_active)
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{
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if (!_initialized) {
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int ret = initialize();
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if (ret) {
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return ret;
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}
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//on startup, set the mount to a neutral position
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_control_data.type = ControlData::Type::Neutral;
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_control_data.gimbal_shutter_retract = true;
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*control_data = &_control_data;
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_initialized = true;
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return 0;
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}
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return update_impl(timeout_ms, control_data, already_active);
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}
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void InputBase::control_data_set_lon_lat(double lon, double lat, float altitude, float roll_angle,
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float pitch_fixed_angle)
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{
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_control_data.type = ControlData::Type::LonLat;
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_control_data.type_data.lonlat.lon = lon;
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_control_data.type_data.lonlat.lat = lat;
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_control_data.type_data.lonlat.altitude = altitude;
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_control_data.type_data.lonlat.roll_angle = roll_angle;
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_control_data.type_data.lonlat.pitch_fixed_angle = pitch_fixed_angle;
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_control_data.type_data.lonlat.pitch_angle_offset = 0.f;
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_control_data.type_data.lonlat.yaw_angle_offset = 0.f;
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}
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void InputBase::set_stabilize(bool roll_stabilize, bool pitch_stabilize, bool yaw_stabilize)
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{
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_control_data.stabilize_axis[0] = roll_stabilize;
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_control_data.stabilize_axis[1] = pitch_stabilize;
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_control_data.stabilize_axis[2] = yaw_stabilize;
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}
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} /* namespace vmount */
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