mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
94dbf358bd
This splits vmount into inputs and outputs modules with a small API in between. It allows for greater flexibility, as any input method can be combined with any output method. At the same time it is easy to add a new input or output module.
79 lines
2.7 KiB
C++
79 lines
2.7 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2016 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file input.cpp
|
|
* @author Beat Küng <beat-kueng@gmx.net>
|
|
*
|
|
*/
|
|
|
|
#include "input.h"
|
|
|
|
|
|
namespace vmount
|
|
{
|
|
|
|
int InputBase::update(unsigned int timeout_ms, ControlData **control_data)
|
|
{
|
|
if (!_initialized) {
|
|
int ret = initialize();
|
|
|
|
if (ret) {
|
|
return ret;
|
|
}
|
|
|
|
//on startup, set the mount to a neutral position
|
|
_control_data.type = ControlData::Type::Neutral;
|
|
_control_data.gimbal_shutter_retract = true;
|
|
*control_data = &_control_data;
|
|
_initialized = true;
|
|
return 0;
|
|
}
|
|
|
|
return update_impl(timeout_ms, control_data);
|
|
}
|
|
|
|
void InputBase::control_data_set_lon_lat(double lon, double lat, float altitude, float roll_angle,
|
|
float pitch_fixed_angle)
|
|
{
|
|
_control_data.type = ControlData::Type::LonLat;
|
|
_control_data.type_data.lonlat.lon = lon;
|
|
_control_data.type_data.lonlat.lat = lat;
|
|
_control_data.type_data.lonlat.altitude = altitude;
|
|
_control_data.type_data.lonlat.roll_angle = roll_angle;
|
|
_control_data.type_data.lonlat.pitch_fixed_angle = pitch_fixed_angle;
|
|
}
|
|
|
|
} /* namespace vmount */
|
|
|