mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-06 13:10:36 +08:00
Daniel Agar
104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2016-2017 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_mavlink.h
|
|
* @author Beat Küng <beat-kueng@gmx.net>
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include "input.h"
|
|
#include "input_rc.h"
|
|
#include <cstdint>
|
|
|
|
#include <uORB/topics/vehicle_command.h>
|
|
#include <uORB/topics/vehicle_roi.h>
|
|
|
|
namespace vmount
|
|
{
|
|
/**
|
|
** class InputMavlinkROI
|
|
** Input based on the vehicle_roi topic
|
|
*/
|
|
class InputMavlinkROI : public InputBase
|
|
{
|
|
public:
|
|
InputMavlinkROI() = default;
|
|
virtual ~InputMavlinkROI();
|
|
|
|
virtual void print_status();
|
|
|
|
protected:
|
|
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
|
|
virtual int initialize();
|
|
|
|
private:
|
|
void _read_control_data_from_position_setpoint_sub();
|
|
|
|
int _vehicle_roi_sub = -1;
|
|
int _position_setpoint_triplet_sub = -1;
|
|
uint8_t _cur_roi_mode = vehicle_roi_s::ROI_NONE;
|
|
};
|
|
|
|
|
|
/**
|
|
** class InputMavlinkCmdMount
|
|
** Input based on the VEHICLE_CMD_DO_MOUNT_CONTROL mavlink command
|
|
*/
|
|
class InputMavlinkCmdMount : public InputBase
|
|
{
|
|
public:
|
|
InputMavlinkCmdMount(bool stabilize);
|
|
virtual ~InputMavlinkCmdMount();
|
|
|
|
virtual void print_status();
|
|
|
|
protected:
|
|
virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
|
|
virtual int initialize();
|
|
|
|
private:
|
|
void _ack_vehicle_command(vehicle_command_s *cmd);
|
|
|
|
int _vehicle_command_sub = -1;
|
|
bool _stabilize[3] = { false, false, false };
|
|
|
|
int32_t _mav_sys_id{1}; ///< our mavlink system id
|
|
int32_t _mav_comp_id{1}; ///< our mavlink component id
|
|
};
|
|
|
|
|
|
} /* namespace vmount */
|