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98fde4cbac
When we use a gimbal connected via "RC", so PWM via the Aux channels, we need to set the gimbal_device_id to 1 as per the protocol. This was missing for GIMBAL_DEVICE_ATTITUDE_STATUS, so I added that, and fixed the name of that variable while at it.
126 lines
4.2 KiB
C++
126 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2022 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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* 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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#include "output_rc.h"
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#include <uORB/topics/gimbal_controls.h>
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#include <px4_platform_common/defines.h>
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#include <matrix/matrix/math.hpp>
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using math::constrain;
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namespace gimbal
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{
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OutputRC::OutputRC(const Parameters ¶meters)
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: OutputBase(parameters)
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{
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}
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void OutputRC::update(const ControlData &control_data, bool new_setpoints, uint8_t &gimbal_device_id)
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{
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hrt_abstime now = hrt_absolute_time();
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if (new_setpoints) {
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_set_angle_setpoints(control_data);
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}
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_handle_position_update(control_data);
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_calculate_angle_output(now);
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_stream_device_attitude_status();
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// If the output is RC, then we signal this by referring to compid 1.
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gimbal_device_id = 1;
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// _angle_outputs are in radians, gimbal_controls are in [-1, 1]
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gimbal_controls_s gimbal_controls{};
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gimbal_controls.control[gimbal_controls_s::INDEX_ROLL] = constrain(
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(_angle_outputs[0] + math::radians(_parameters.mnt_off_roll)) *
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(1.0f / (math::radians(_parameters.mnt_range_roll / 2.0f))),
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-1.f, 1.f);
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gimbal_controls.control[gimbal_controls_s::INDEX_PITCH] = constrain(
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(_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch)) *
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(1.0f / (math::radians(_parameters.mnt_range_pitch / 2.0f))),
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-1.f, 1.f);
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gimbal_controls.control[gimbal_controls_s::INDEX_YAW] = constrain(
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(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw)) *
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(1.0f / (math::radians(_parameters.mnt_range_yaw / 2.0f))),
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-1.f, 1.f);
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gimbal_controls.timestamp = hrt_absolute_time();
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_gimbal_controls_pub.publish(gimbal_controls);
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_last_update = now;
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}
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void OutputRC::print_status() const
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{
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PX4_INFO("Output: AUX");
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}
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void OutputRC::_stream_device_attitude_status()
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{
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gimbal_device_attitude_status_s attitude_status{};
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attitude_status.timestamp = hrt_absolute_time();
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attitude_status.target_system = 0;
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attitude_status.target_component = 0;
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attitude_status.device_flags = 0;
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if (_absolute_angle[0]) {
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attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK;
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}
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if (_absolute_angle[1]) {
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attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK;
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}
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if (_absolute_angle[2]) {
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attitude_status.device_flags |= gimbal_device_attitude_status_s::DEVICE_FLAGS_YAW_LOCK;
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}
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matrix::Eulerf euler(_angle_outputs[0], _angle_outputs[1], _angle_outputs[2]);
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matrix::Quatf q(euler);
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q.copyTo(attitude_status.q);
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attitude_status.failure_flags = 0;
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// If the output is RC, then we signal this by referring to compid 1.
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attitude_status.gimbal_device_id = 1;
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_attitude_status_pub.publish(attitude_status);
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}
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} /* namespace gimbal */
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