mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-13 00:47:35 +08:00
Julian Oes
242 lines
8.2 KiB
C++
242 lines
8.2 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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* 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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#include "output_mavlink.h"
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#include <matrix/matrix/math.hpp>
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#include <px4_platform_common/defines.h>
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namespace gimbal
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{
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OutputMavlinkV1::OutputMavlinkV1(const Parameters ¶meters)
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: OutputBase(parameters)
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{}
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void OutputMavlinkV1::update(const ControlData &control_data, bool new_setpoints)
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{
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vehicle_command_s vehicle_command{};
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vehicle_command.timestamp = hrt_absolute_time();
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vehicle_command.target_system = (uint8_t)_parameters.mnt_mav_sysid_v1;
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vehicle_command.target_component = (uint8_t)_parameters.mnt_mav_compid_v1;
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if (new_setpoints) {
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//got new command
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_set_angle_setpoints(control_data);
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const bool configuration_changed =
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(control_data.type != _previous_control_data_type);
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_previous_control_data_type = control_data.type;
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if (configuration_changed) {
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vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
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vehicle_command.timestamp = hrt_absolute_time();
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if (control_data.type == ControlData::Type::Neutral) {
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vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL;
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vehicle_command.param5 = 0.0;
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vehicle_command.param6 = 0.0;
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vehicle_command.param7 = 0.0f;
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} else {
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vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
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vehicle_command.param5 = static_cast<double>(control_data.type_data.angle.frames[0]);
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vehicle_command.param6 = static_cast<double>(control_data.type_data.angle.frames[1]);
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vehicle_command.param7 = static_cast<float>(control_data.type_data.angle.frames[2]);
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}
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vehicle_command.param2 = _stabilize[0] ? 1.0f : 0.0f;
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vehicle_command.param3 = _stabilize[1] ? 1.0f : 0.0f;
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vehicle_command.param4 = _stabilize[2] ? 1.0f : 0.0f;
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_gimbal_v1_command_pub.publish(vehicle_command);
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}
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}
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_handle_position_update(control_data);
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hrt_abstime t = hrt_absolute_time();
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_calculate_angle_output(t);
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vehicle_command.timestamp = t;
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vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
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// gimbal spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
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// gimbal uses radians, MAVLink uses degrees
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vehicle_command.param1 = math::degrees(_angle_outputs[1] + math::radians(_parameters.mnt_off_pitch));
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vehicle_command.param2 = math::degrees(_angle_outputs[0] + math::radians(_parameters.mnt_off_roll));
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vehicle_command.param3 = math::degrees(_angle_outputs[2] + math::radians(_parameters.mnt_off_yaw));
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vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;
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_gimbal_v1_command_pub.publish(vehicle_command);
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_stream_device_attitude_status();
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_last_update = t;
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}
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void OutputMavlinkV1::_stream_device_attitude_status()
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{
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// This enables the use case where the gimbal v2 protocol is used
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// between the ground station and the drone, and the gimbal v1 protocol is
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// used between the drone and the gimbal.
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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 = gimbal_device_attitude_status_s::DEVICE_FLAGS_NEUTRAL |
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gimbal_device_attitude_status_s::DEVICE_FLAGS_ROLL_LOCK |
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gimbal_device_attitude_status_s::DEVICE_FLAGS_PITCH_LOCK;
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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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_attitude_status_pub.publish(attitude_status);
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}
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void OutputMavlinkV1::print_status() const
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{
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PX4_INFO("Output: MAVLink gimbal protocol v1");
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}
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OutputMavlinkV2::OutputMavlinkV2(const Parameters ¶meters)
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: OutputBase(parameters)
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{
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}
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void OutputMavlinkV2::update(const ControlData &control_data, bool new_setpoints)
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{
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_check_for_gimbal_device_information();
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hrt_abstime t = hrt_absolute_time();
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if (!_gimbal_device_found && t - _last_gimbal_device_checked > 1000000) {
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_request_gimbal_device_information();
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_last_gimbal_device_checked = t;
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} else {
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if (new_setpoints) {
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//got new command
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_set_angle_setpoints(control_data);
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_handle_position_update(control_data);
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_last_update = t;
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}
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_publish_gimbal_device_set_attitude();
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}
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}
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void OutputMavlinkV2::_request_gimbal_device_information()
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{
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vehicle_command_s vehicle_cmd{};
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vehicle_cmd.timestamp = hrt_absolute_time();
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vehicle_cmd.command = vehicle_command_s::VEHICLE_CMD_REQUEST_MESSAGE;
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vehicle_cmd.param1 = vehicle_command_s::VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION;
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vehicle_cmd.target_system = 0;
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vehicle_cmd.target_component = 0;
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vehicle_cmd.source_system = _parameters.mav_sysid;
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vehicle_cmd.source_component = _parameters.mav_compid;
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vehicle_cmd.confirmation = 0;
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vehicle_cmd.from_external = false;
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uORB::Publication<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
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vehicle_command_pub.publish(vehicle_cmd);
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}
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void OutputMavlinkV2::_check_for_gimbal_device_information()
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{
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gimbal_device_information_s gimbal_device_information;
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if (_gimbal_device_information_sub.update(&gimbal_device_information)) {
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_gimbal_device_found = true;
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_gimbal_device_compid = gimbal_device_information.gimbal_device_compid;
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}
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}
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void OutputMavlinkV2::print_status() const
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{
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PX4_INFO("Output: MAVLink gimbal protocol v2");
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PX4_INFO_RAW(" quaternion: [%.1f %.1f %.1f %.1f]\n",
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(double)_q_setpoint[0],
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(double)_q_setpoint[1],
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(double)_q_setpoint[2],
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(double)_q_setpoint[3]);
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PX4_INFO_RAW(" angular velocity: [%.1f %.1f %.1f]\n",
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(double)_angle_velocity[0],
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(double)_angle_velocity[1],
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(double)_angle_velocity[2]);
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}
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void OutputMavlinkV2::_publish_gimbal_device_set_attitude()
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{
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gimbal_device_set_attitude_s set_attitude{};
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set_attitude.timestamp = hrt_absolute_time();
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set_attitude.target_system = (uint8_t)_parameters.mav_sysid;
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set_attitude.target_component = _gimbal_device_compid;
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set_attitude.angular_velocity_x = _angle_velocity[0];
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set_attitude.angular_velocity_y = _angle_velocity[1];
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set_attitude.angular_velocity_z = _angle_velocity[2];
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set_attitude.q[0] = _q_setpoint[0];
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set_attitude.q[1] = _q_setpoint[1];
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set_attitude.q[2] = _q_setpoint[2];
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set_attitude.q[3] = _q_setpoint[3];
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if (_absolute_angle[0]) {
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set_attitude.flags |= gimbal_device_set_attitude_s::GIMBAL_DEVICE_FLAGS_ROLL_LOCK;
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}
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if (_absolute_angle[1]) {
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set_attitude.flags |= gimbal_device_set_attitude_s::GIMBAL_DEVICE_FLAGS_PITCH_LOCK;
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}
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if (_absolute_angle[2]) {
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set_attitude.flags |= gimbal_device_set_attitude_s::GIMBAL_DEVICE_FLAGS_YAW_LOCK;
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}
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_gimbal_device_set_attitude_pub.publish(set_attitude);
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}
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} /* namespace gimbal */
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