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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-23 01:07:35 +08:00
Julian Oes
caf69b290a
It is not convenient having to change a parameter to change a gimbal from RC input to mavlink input mode or back. This refactor changes the behaviour to use whatever is available, RC or mavlink commands. Once a mavlink command is followed, control can be taken back using RC, however, this requires a clear stick change.
89 lines
2.7 KiB
C++
89 lines
2.7 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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* 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 input_test.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_test.h"
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#include <px4_posix.h>
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namespace vmount
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{
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InputTest::InputTest(float roll_deg, float pitch_deg, float yaw_deg)
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{
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_angles[0] = roll_deg;
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_angles[1] = pitch_deg;
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_angles[2] = yaw_deg;
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}
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bool InputTest::finished()
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{
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return true; /* only a single-shot test (for now) */
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}
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int InputTest::update(unsigned int timeout_ms, ControlData **control_data, bool already_active)
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{
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//we directly override the update() here, since we don't need the initialization from the base class
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_control_data.type = ControlData::Type::Angle;
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for (int i = 0; i < 3; ++i) {
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_control_data.type_data.angle.is_speed[i] = false;
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_control_data.type_data.angle.angles[i] = _angles[i] * M_DEG_TO_RAD_F;
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_control_data.stabilize_axis[i] = false;
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}
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_control_data.gimbal_shutter_retract = false;
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*control_data = &_control_data;
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return 0;
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}
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int InputTest::initialize()
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{
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return 0;
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}
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void InputTest::print_status()
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{
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PX4_INFO("Input: Test");
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}
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} /* namespace vmount */
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