AP_Mount Class Reference

#include <AP_Mount.h>

Collaboration diagram for AP_Mount:

Classes
struct	mount_state

Public Types
enum	MountType {   Mount_Type_None = 0, Mount_Type_Servo = 1, Mount_Type_SoloGimbal = 2, Mount_Type_Alexmos = 3,   Mount_Type_SToRM32 = 4, Mount_Type_SToRM32_serial = 5 }

Public Member Functions
	AP_Mount (const AP_AHRS_TYPE &ahrs, const struct Location &current_loc)
	AP_Mount (const AP_Mount &other)=delete
AP_Mount &	operator= (const AP_Mount &)=delete
void	init (const AP_SerialManager &serial_manager)
void	update ()
void	update_fast ()
AP_Mount::MountType	get_mount_type () const
AP_Mount::MountType	get_mount_type (uint8_t instance) const
bool	has_pan_control () const
bool	has_pan_control (uint8_t instance) const
enum MAV_MOUNT_MODE	get_mode () const
enum MAV_MOUNT_MODE	get_mode (uint8_t instance) const
void	set_mode (enum MAV_MOUNT_MODE mode)
void	set_mode (uint8_t instance, enum MAV_MOUNT_MODE mode)
void	set_mode_to_default ()
void	set_mode_to_default (uint8_t instance)
void	set_angle_targets (float roll, float tilt, float pan)
void	set_angle_targets (uint8_t instance, float roll, float tilt, float pan)
void	set_roi_target (const struct Location &target_loc)
void	set_roi_target (uint8_t instance, const struct Location &target_loc)
void	control (int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, enum MAV_MOUNT_MODE mount_mode)
void	control (uint8_t instance, int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, enum MAV_MOUNT_MODE mount_mode)
void	configure_msg (mavlink_message_t *msg)
void	configure_msg (uint8_t instance, mavlink_message_t *msg)
void	control_msg (mavlink_message_t *msg)
void	control_msg (uint8_t instance, mavlink_message_t *msg)
void	handle_param_value (mavlink_message_t *msg)
void	handle_gimbal_report (mavlink_channel_t chan, mavlink_message_t *msg)
void	send_gimbal_report (mavlink_channel_t chan)
void	status_msg (mavlink_channel_t chan)
	Return mount status information. More...

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Protected Attributes
const AP_AHRS_TYPE &	_ahrs
const struct Location &	_current_loc
AP_Int8	_joystick_speed
uint8_t	_num_instances
uint8_t	_primary
AP_Mount_Backend *	_backends [AP_MOUNT_MAX_INSTANCES]
struct AP_Mount::mount_state	state [AP_MOUNT_MAX_INSTANCES]

Friends
class	AP_Mount_Backend
class	AP_Mount_Servo
class	AP_Mount_SoloGimbal
class	AP_Mount_Alexmos
class	AP_Mount_SToRM32
class	AP_Mount_SToRM32_serial

Detailed Description

Definition at line 47 of file AP_Mount.h.

Member Enumeration Documentation

MountType

enum AP_Mount::MountType

Enumerator
Mount_Type_None
Mount_Type_Servo	no mount
Mount_Type_SoloGimbal	servo controlled mount
Mount_Type_Alexmos	Solo's gimbal.
Mount_Type_SToRM32	Alexmos mount.
Mount_Type_SToRM32_serial	SToRM32 mount using MAVLink protocol.

Definition at line 66 of file AP_Mount.h.

Constructor & Destructor Documentation

AP_Mount() [1/2]

AP_Mount::AP_Mount	(	const AP_AHRS_TYPE &	ahrs,
		const struct Location &	current_loc
	)

Definition at line 396 of file AP_Mount.cpp.

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AP_Mount() [2/2]

AP_Mount::AP_Mount ( const AP_Mount &  other )

delete

Member Function Documentation

configure_msg() [1/2]

void AP_Mount::configure_msg ( mavlink_message_t *  msg )

inline

Definition at line 119 of file AP_Mount.h.

Referenced by configure_msg().

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configure_msg() [2/2]

void AP_Mount::configure_msg	(	uint8_t	instance,
		mavlink_message_t *	msg
	)

Change the configuration of the mount triggered by a MavLink packet.

Definition at line 564 of file AP_Mount.cpp.

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control() [1/2]

void AP_Mount::control ( int32_t  pitch_or_lat, int32_t  roll_or_lon, int32_t  yaw_or_alt, enum MAV_MOUNT_MODE  mount_mode  )

inline

Definition at line 115 of file AP_Mount.h.

Referenced by control().

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control() [2/2]

void AP_Mount::control	(	uint8_t	instance,
		int32_t	pitch_or_lat,
		int32_t	roll_or_lon,
		int32_t	yaw_or_alt,
		enum MAV_MOUNT_MODE	mount_mode
	)

Definition at line 586 of file AP_Mount.cpp.

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control_msg() [1/2]

void AP_Mount::control_msg ( mavlink_message_t *  msg )

inline

Definition at line 123 of file AP_Mount.h.

Referenced by control_msg().

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control_msg() [2/2]

void AP_Mount::control_msg	(	uint8_t	instance,
		mavlink_message_t *	msg
	)

Control the mount (depends on the previously set mount configuration) triggered by a MavLink packet.

Definition at line 576 of file AP_Mount.cpp.

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get_mode() [1/2]

MAV_MOUNT_MODE AP_Mount::get_mode

(

uint8_t

instance

)

const

Definition at line 522 of file AP_Mount.cpp.

get_mode() [2/2]

enum MAV_MOUNT_MODE AP_Mount::get_mode ( ) const

inline

Definition at line 93 of file AP_Mount.h.

Referenced by AP_Mount_Backend::control(), and AP_Mount_Backend::get_mode().

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get_mount_type() [1/2]

AP_Mount::MountType AP_Mount::get_mount_type ( ) const

inline

Definition at line 85 of file AP_Mount.h.

Referenced by get_mount_type(), and init().

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get_mount_type() [2/2]

AP_Mount::MountType AP_Mount::get_mount_type

(

uint8_t

instance

)

const

Definition at line 501 of file AP_Mount.cpp.

handle_gimbal_report()

void AP_Mount::handle_gimbal_report	(	mavlink_channel_t	chan,
		mavlink_message_t *	msg
	)

Definition at line 617 of file AP_Mount.cpp.

Referenced by control_msg(), and GCS_MAVLINK::handle_gimbal_report().

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handle_param_value()

void AP_Mount::handle_param_value

(

mavlink_message_t *

msg

)

Definition at line 627 of file AP_Mount.cpp.

Referenced by control_msg().

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has_pan_control() [1/2]

bool AP_Mount::has_pan_control ( ) const

inline

Definition at line 89 of file AP_Mount.h.

Referenced by has_pan_control().

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has_pan_control() [2/2]

bool AP_Mount::has_pan_control

(

uint8_t

instance

)

const

Definition at line 511 of file AP_Mount.cpp.

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init()

void AP_Mount::init

(

const AP_SerialManager &

serial_manager

)

Definition at line 411 of file AP_Mount.cpp.

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operator=()

AP_Mount& AP_Mount::operator= ( const AP_Mount &  )

delete

send_gimbal_report()

void AP_Mount::send_gimbal_report

(

mavlink_channel_t

chan

)

Definition at line 637 of file AP_Mount.cpp.

Referenced by control_msg().

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set_angle_targets() [1/2]

void AP_Mount::set_angle_targets ( float  roll, float  tilt, float  pan  )

inline

Definition at line 107 of file AP_Mount.h.

Referenced by set_angle_targets().

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set_angle_targets() [2/2]

void AP_Mount::set_angle_targets	(	uint8_t	instance,
		float	roll,
		float	tilt,
		float	pan
	)

Definition at line 552 of file AP_Mount.cpp.

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set_mode() [1/2]

void AP_Mount::set_mode ( enum MAV_MOUNT_MODE  mode )

inline

Definition at line 98 of file AP_Mount.h.

Referenced by AP_Mount_Backend::control(), AP_Mount_Backend::set_angle_targets(), set_mode(), set_mode_to_default(), and AP_Mount_Backend::set_roi_target().

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set_mode() [2/2]

void AP_Mount::set_mode	(	uint8_t	instance,
		enum MAV_MOUNT_MODE	mode
	)

Definition at line 540 of file AP_Mount.cpp.

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set_mode_to_default() [1/2]

void AP_Mount::set_mode_to_default ( )

inline

Definition at line 103 of file AP_Mount.h.

Referenced by set_mode_to_default().

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set_mode_to_default() [2/2]

void AP_Mount::set_mode_to_default

(

uint8_t

instance

)

Definition at line 534 of file AP_Mount.cpp.

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set_roi_target() [1/2]

void AP_Mount::set_roi_target ( const struct Location &  target_loc )

inline

Definition at line 111 of file AP_Mount.h.

Referenced by set_roi_target().

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set_roi_target() [2/2]

void AP_Mount::set_roi_target	(	uint8_t	instance,
		const struct Location &	target_loc
	)

Definition at line 608 of file AP_Mount.cpp.

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status_msg()

void AP_Mount::status_msg

(

mavlink_channel_t

chan

)

Return mount status information.

Definition at line 597 of file AP_Mount.cpp.

Referenced by control_msg().

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update()

void AP_Mount::update

(

void

)

Definition at line 479 of file AP_Mount.cpp.

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update_fast()

void AP_Mount::update_fast

(

)

Definition at line 490 of file AP_Mount.cpp.

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Friends And Related Function Documentation

AP_Mount_Alexmos

friend class AP_Mount_Alexmos

friend

Definition at line 53 of file AP_Mount.h.

Referenced by init().

AP_Mount_Backend

friend class AP_Mount_Backend

friend

Definition at line 50 of file AP_Mount.h.

AP_Mount_Servo

friend class AP_Mount_Servo

friend

Definition at line 51 of file AP_Mount.h.

Referenced by init().

AP_Mount_SoloGimbal

friend class AP_Mount_SoloGimbal

friend

Definition at line 52 of file AP_Mount.h.

Referenced by init().

AP_Mount_SToRM32

friend class AP_Mount_SToRM32

friend

Definition at line 54 of file AP_Mount.h.

Referenced by init().

AP_Mount_SToRM32_serial

friend class AP_Mount_SToRM32_serial

friend

Definition at line 55 of file AP_Mount.h.

Referenced by init().

Member Data Documentation

_ahrs

const AP_AHRS_TYPE& AP_Mount::_ahrs

protected

Definition at line 143 of file AP_Mount.h.

Referenced by AP_Mount_Backend::calc_angle_to_location(), and AP_Mount_Servo::stabilize().

_backends

AP_Mount_Backend* AP_Mount::_backends[AP_MOUNT_MAX_INSTANCES]

protected

Definition at line 152 of file AP_Mount.h.

Referenced by AP_Mount(), configure_msg(), control(), control_msg(), handle_gimbal_report(), handle_param_value(), has_pan_control(), init(), send_gimbal_report(), set_angle_targets(), set_mode(), set_roi_target(), status_msg(), update(), and update_fast().

_current_loc

const struct Location& AP_Mount::_current_loc

protected

Definition at line 144 of file AP_Mount.h.

Referenced by AP_Mount_Backend::calc_angle_to_location().

_joystick_speed

AP_Int8 AP_Mount::_joystick_speed

protected

Definition at line 147 of file AP_Mount.h.

Referenced by AP_Mount_Backend::update_targets_from_rc().

_num_instances

uint8_t AP_Mount::_num_instances

protected

Definition at line 150 of file AP_Mount.h.

Referenced by init().

_primary

uint8_t AP_Mount::_primary

protected

Definition at line 151 of file AP_Mount.h.

Referenced by configure_msg(), control(), control_msg(), get_mode(), get_mount_type(), has_pan_control(), init(), set_angle_targets(), set_mode(), set_mode_to_default(), and set_roi_target().

state

struct AP_Mount::mount_state AP_Mount::state[AP_MOUNT_MAX_INSTANCES]

protected

Referenced by get_mode(), get_mount_type(), init(), and set_mode_to_default().

var_info

const AP_Param::GroupInfo AP_Mount::var_info

static

Definition at line 139 of file AP_Mount.h.

Referenced by AP_Mount().

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The documentation for this class was generated from the following files:

• libraries/AP_Mount/AP_Mount.h
• libraries/AP_Mount/AP_Mount.cpp