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7a69b85850
It is most convenient to use a yaw angle relative to body for testing. Also, we set stabilize_axis to true for testing.
122 lines
4.2 KiB
C++
122 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2019 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 output_mavlink.cpp
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* @author Leon Müller (thedevleon)
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#include "output_mavlink.h"
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#include <math.h>
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#include <uORB/topics/vehicle_command.h>
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#include <px4_platform_common/defines.h>
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namespace vmount
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{
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OutputMavlink::OutputMavlink(const OutputConfig &output_config)
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: OutputBase(output_config)
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{
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}
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int OutputMavlink::update(const ControlData *control_data)
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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)_config.mavlink_sys_id;
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vehicle_command.target_component = (uint8_t)_config.mavlink_comp_id;
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if (control_data) {
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//got new command
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_set_angle_setpoints(control_data);
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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 = control_data->stabilize_axis[0];
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vehicle_command.param3 = control_data->stabilize_axis[1];
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vehicle_command.param4 = control_data->stabilize_axis[2];
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_vehicle_command_pub.publish(vehicle_command);
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}
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_handle_position_update();
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hrt_abstime t = hrt_absolute_time();
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_calculate_output_angles(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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// vmount spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
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// vmount uses radians, MAVLink uses degrees
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vehicle_command.param1 = (_angle_outputs[1] + _config.pitch_offset) * M_RAD_TO_DEG_F;
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vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
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vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
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vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;
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_vehicle_command_pub.publish(vehicle_command);
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_last_update = t;
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return 0;
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}
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void OutputMavlink::print_status()
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{
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PX4_INFO("Output: Mavlink");
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}
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} /* namespace vmount */
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