mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-22 17:07:34 +08:00
Daniel Agar
133 lines
4.5 KiB
C++
133 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 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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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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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 output.h
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#pragma once
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#include "common.h"
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#include <drivers/drv_hrt.h>
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#include <lib/ecl/geo/geo.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/vehicle_global_position.h>
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namespace vmount
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{
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struct OutputConfig {
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float gimbal_retracted_mode_value; /**< Mixer output value for selecting gimbal retracted mode */
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float gimbal_normal_mode_value; /**< Mixer output value for selecting gimbal normal mode */
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/** Scale factor for pitch channel (maps from angle in radians to actuator output in [-1,1]). OutputRC only. */
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float pitch_scale;
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/** Scale factor for roll channel (maps from angle in radians to actuator output in [-1,1]). OutputRC only. */
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float roll_scale;
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/** Scale factor for yaw channel (maps from angle in radians to actuator output in [-1,1]). OutputRC only. */
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float yaw_scale;
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float pitch_offset; /**< Offset for pitch channel in radians */
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float roll_offset; /**< Offset for roll channel in radians */
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float yaw_offset; /**< Offset for yaw channel in radians */
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uint32_t mavlink_sys_id; /**< Mavlink target system id for mavlink output */
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uint32_t mavlink_comp_id;
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};
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/**
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** class OutputBase
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* Base class for all driver output classes
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*/
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class OutputBase
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{
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public:
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OutputBase(const OutputConfig &output_config);
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virtual ~OutputBase();
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virtual int initialize();
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/**
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* Update the output.
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* @param data new command if non null
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* @return 0 on success, <0 otherwise
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*/
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virtual int update(const ControlData *control_data) = 0;
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/** report status to stdout */
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virtual void print_status() = 0;
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/** Publish _angle_outputs as a mount_orientation message. */
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void publish();
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protected:
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float _calculate_pitch(double lon, double lat, float altitude,
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const vehicle_global_position_s &global_position);
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map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
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const OutputConfig &_config;
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/** set angle setpoints, speeds & stabilize flags */
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void _set_angle_setpoints(const ControlData *control_data);
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/** check if vehicle position changed and update the setpoint angles if in gps mode */
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void _handle_position_update(bool force_update = false);
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const ControlData *_cur_control_data = nullptr;
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float _angle_setpoints[3] = { 0.f, 0.f, 0.f }; ///< [rad]
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float _angle_speeds[3] = { 0.f, 0.f, 0.f };
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bool _stabilize[3] = { false, false, false };
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/** calculate the _angle_outputs (with speed) and stabilize if needed */
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void _calculate_output_angles(const hrt_abstime &t);
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float _angle_outputs[3] = { 0.f, 0.f, 0.f }; ///< calculated output angles (roll, pitch, yaw) [rad]
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hrt_abstime _last_update;
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int _get_vehicle_attitude_sub() const { return _vehicle_attitude_sub; }
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private:
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int _vehicle_attitude_sub = -1;
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int _vehicle_global_position_sub = -1;
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orb_advert_t _mount_orientation_pub = nullptr;
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};
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} /* namespace vmount */
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