mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 06:20:34 +08:00
Julian Oes
e6b1775bb6
This is a collection of commits all having to do with changes in the Mavlink gimbal v2 protocol as described in: https://mavlink.io/en/services/gimbal_v2.html
96 lines
3.7 KiB
C++
96 lines
3.7 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 common.h
|
|
* @author Beat Küng <beat-kueng@gmx.net>
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
namespace vmount
|
|
{
|
|
|
|
/**
|
|
* @struct ControlData
|
|
* This defines the common API between an input and an output of the vmount driver.
|
|
* Each output must support the (full) set of the commands, and an input can create all
|
|
* or a subset of the types.
|
|
*/
|
|
struct ControlData {
|
|
|
|
enum class Type : uint8_t {
|
|
Neutral = 0, /**< move to neutral position */
|
|
Angle, /**< control the roll, pitch & yaw angle directly */
|
|
LonLat /**< control via lon, lat */
|
|
};
|
|
|
|
|
|
Type type = Type::Neutral;
|
|
|
|
union TypeData {
|
|
struct TypeAngle {
|
|
float q[4]; /**< attitude quaternion */
|
|
float angular_velocity[3]; // angular velocity
|
|
|
|
// according to DO_MOUNT_CONFIGURE
|
|
enum class Frame : uint8_t {
|
|
AngleBodyFrame = 0, /**< Follow mode, angle relative to vehicle (usually default for yaw axis). */
|
|
AngularRate = 1, /**< Angular rate set only, for compatibility with MAVLink v1 protocol. */
|
|
AngleAbsoluteFrame = 2/**< Lock mode, angle relative to horizon/world, lock mode. (usually default for roll and pitch). */
|
|
} frames[3]; /**< Mode. */
|
|
} angle;
|
|
|
|
struct TypeLonLat {
|
|
double lon; /**< longitude in [deg] */
|
|
double lat; /**< latitude in [deg] */
|
|
float altitude; /**< altitude in [m] */
|
|
float roll_angle; /**< roll is set to a fixed angle. Set to 0 for level horizon [rad] */
|
|
float pitch_angle_offset; /**< angular offset for pitch [rad] */
|
|
float yaw_angle_offset; /**< angular offset for yaw [rad] */
|
|
float pitch_fixed_angle; /**< ignored if < -pi, otherwise use a fixed pitch angle instead of the altitude */
|
|
} lonlat;
|
|
} type_data;
|
|
|
|
|
|
bool stabilize_axis[3] = { false, false, false }; /**< whether the vmount driver should stabilize an axis
|
|
(if the output supports it, this can also be done externally) */
|
|
bool gimbal_shutter_retract = false; /**< whether to lock the gimbal (only in RC output mode) */
|
|
|
|
};
|
|
|
|
} /* namespace vmount */
|