#include <AP_Mount_Alexmos.h>

Inheritance diagram for AP_Mount_Alexmos:

Collaboration diagram for AP_Mount_Alexmos:

Classes
struct	alexmos_angles

struct	alexmos_angles_speed

union	alexmos_parameters

struct	alexmos_params

struct	alexmos_version

Public Member Functions
	AP_Mount_Alexmos (AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance)

virtual void	init (const AP_SerialManager &serial_manager)

virtual void	update ()

virtual bool	has_pan_control () const

virtual void	set_mode (enum MAV_MOUNT_MODE mode)

virtual void	status_msg (mavlink_channel_t chan)

Public Member Functions inherited from AP_Mount_Backend
	AP_Mount_Backend (AP_Mount &frontend, AP_Mount::mount_state &state, uint8_t instance)

virtual	~AP_Mount_Backend (void)

virtual void	update_fast ()

virtual void	set_angle_targets (float roll, float tilt, float pan)

virtual void	set_roi_target (const struct Location &target_loc)

virtual void	control (int32_t pitch_or_lat, int32_t roll_or_lon, int32_t yaw_or_alt, MAV_MOUNT_MODE mount_mode)

virtual void	configure_msg (mavlink_message_t *msg)

virtual void	control_msg (mavlink_message_t *msg)

virtual void	handle_gimbal_report (mavlink_channel_t chan, mavlink_message_t *msg)

virtual void	handle_param_value (mavlink_message_t *msg)

virtual void	send_gimbal_report (mavlink_channel_t chan)

Private Member Functions
void	get_angles ()

void	set_motor (bool on)

void	get_boardinfo ()

void	control_axis (const Vector3f &angle, bool targets_in_degrees)

void	read_params (uint8_t profile_id)

void	write_params ()

bool	get_realtimedata (Vector3f &angle)

void	send_command (uint8_t cmd, uint8_t *data, uint8_t size)

void	parse_body ()

void	read_incoming ()

Private Attributes
union PACKED AP_Mount_Alexmos::alexmos_parameters	_buffer

union PACKED AP_Mount_Alexmos::alexmos_parameters	_current_parameters

AP_HAL::UARTDriver *	_port

bool	_initialised: 1

uint8_t	_board_version

float	_current_firmware_version

uint8_t	_firmware_beta_version

bool	_gimbal_3axis: 1

bool	_gimbal_bat_monitoring: 1

Vector3f	_current_angle

bool	_param_read_once: 1

uint8_t	_checksum

uint8_t	_step

uint8_t	_command_id

uint8_t	_payload_length

uint8_t	_payload_counter

bool	_last_command_confirmed: 1

Additional Inherited Members
Protected Member Functions inherited from AP_Mount_Backend
void	update_targets_from_rc ()

int32_t	angle_input (RC_Channel *rc, int16_t angle_min, int16_t angle_max)

float	angle_input_rad (RC_Channel *rc, int16_t angle_min, int16_t angle_max)

void	calc_angle_to_location (const struct Location &target, Vector3f &angles_to_target_rad, bool calc_tilt, bool calc_pan, bool relative_pan=true)

MAV_MOUNT_MODE	get_mode (void) const

Protected Attributes inherited from AP_Mount_Backend
AP_Mount &	_frontend

AP_Mount::mount_state &	_state

uint8_t	_instance

Vector3f	_angle_ef_target_rad

Detailed Description

Definition at line 65 of file AP_Mount_Alexmos.h.

Constructor & Destructor Documentation

◆ AP_Mount_Alexmos()

AP_Mount_Alexmos::AP_Mount_Alexmos	(	AP_Mount &	frontend,
		AP_Mount::mount_state &	state,
		uint8_t	instance
	)

inline

Definition at line 69 of file AP_Mount_Alexmos.h.

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Member Function Documentation

◆ control_axis()

void AP_Mount_Alexmos::control_axis	(	const Vector3f &	angle,
		bool	targets_in_degrees
	)

private

Definition at line 125 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), and update().

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◆ get_angles()

void AP_Mount_Alexmos::get_angles ( )

private

Definition at line 90 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), and status_msg().

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◆ get_boardinfo()

void AP_Mount_Alexmos::get_boardinfo ( )

private

Definition at line 113 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), and init().

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◆ get_realtimedata()

bool AP_Mount_Alexmos::get_realtimedata ( Vector3f & angle )

private

Referenced by AP_Mount_Alexmos().

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◆ has_pan_control()

bool AP_Mount_Alexmos::has_pan_control ( ) const

virtual

Implements AP_Mount_Backend.

Definition at line 64 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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◆ init()

void AP_Mount_Alexmos::init ( const AP_SerialManager & serial_manager )

virtual

Implements AP_Mount_Backend.

Definition at line 5 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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◆ parse_body()

void AP_Mount_Alexmos::parse_body ( )

private

Definition at line 187 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), and read_incoming().

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◆ read_incoming()

void AP_Mount_Alexmos::read_incoming ( )

private

Definition at line 221 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), and update().

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◆ read_params()

void AP_Mount_Alexmos::read_params ( uint8_t profile_id )

private

Definition at line 146 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), and init().

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◆ send_command()

void AP_Mount_Alexmos::send_command	(	uint8_t	cmd,
		uint8_t *	data,
		uint8_t	size
	)

private

Definition at line 166 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos(), control_axis(), get_angles(), get_boardinfo(), read_params(), set_motor(), and write_params().

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◆ set_mode()

void AP_Mount_Alexmos::set_mode ( enum MAV_MOUNT_MODE mode )

virtual

Implements AP_Mount_Backend.

Definition at line 70 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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◆ set_motor()

void AP_Mount_Alexmos::set_motor ( bool on )

private

Definition at line 99 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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◆ status_msg()

void AP_Mount_Alexmos::status_msg ( mavlink_channel_t chan )

virtual

Reimplemented from AP_Mount_Backend.

Definition at line 77 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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◆ update()

void AP_Mount_Alexmos::update ( void )

virtual

Implements AP_Mount_Backend.

Definition at line 16 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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◆ write_params()

void AP_Mount_Alexmos::write_params ( )

private

Definition at line 155 of file AP_Mount_Alexmos.cpp.

Referenced by AP_Mount_Alexmos().

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Member Data Documentation

◆ _board_version

uint8_t AP_Mount_Alexmos::_board_version

private

Definition at line 296 of file AP_Mount_Alexmos.h.

Referenced by get_boardinfo(), and parse_body().

◆ _buffer

union PACKED AP_Mount_Alexmos::alexmos_parameters AP_Mount_Alexmos::_buffer

private

Referenced by parse_body(), and read_incoming().

◆ _checksum

uint8_t AP_Mount_Alexmos::_checksum

private

Definition at line 309 of file AP_Mount_Alexmos.h.

Referenced by read_incoming().

◆ _command_id

uint8_t AP_Mount_Alexmos::_command_id

private

Definition at line 311 of file AP_Mount_Alexmos.h.

Referenced by parse_body(), and read_incoming().

◆ _current_angle

Vector3f AP_Mount_Alexmos::_current_angle

private

Definition at line 303 of file AP_Mount_Alexmos.h.

Referenced by parse_body(), and status_msg().

◆ _current_firmware_version

float AP_Mount_Alexmos::_current_firmware_version

private

Definition at line 297 of file AP_Mount_Alexmos.h.

Referenced by parse_body().

◆ _current_parameters

union PACKED AP_Mount_Alexmos::alexmos_parameters AP_Mount_Alexmos::_current_parameters

private

Referenced by parse_body(), and write_params().

◆ _firmware_beta_version

uint8_t AP_Mount_Alexmos::_firmware_beta_version

private

Definition at line 298 of file AP_Mount_Alexmos.h.

Referenced by parse_body().

◆ _gimbal_3axis

bool AP_Mount_Alexmos::_gimbal_3axis

private

Definition at line 299 of file AP_Mount_Alexmos.h.

Referenced by has_pan_control(), and parse_body().

◆ _gimbal_bat_monitoring

bool AP_Mount_Alexmos::_gimbal_bat_monitoring

private

Definition at line 300 of file AP_Mount_Alexmos.h.

Referenced by parse_body().

◆ _initialised

bool AP_Mount_Alexmos::_initialised

private

Definition at line 293 of file AP_Mount_Alexmos.h.

Referenced by init(), status_msg(), and update().

◆ _last_command_confirmed

bool AP_Mount_Alexmos::_last_command_confirmed

private

Definition at line 316 of file AP_Mount_Alexmos.h.

Referenced by parse_body(), and read_incoming().

◆ _param_read_once

bool AP_Mount_Alexmos::_param_read_once

private

Definition at line 306 of file AP_Mount_Alexmos.h.

Referenced by parse_body(), and write_params().

◆ _payload_counter

uint8_t AP_Mount_Alexmos::_payload_counter

private

Definition at line 313 of file AP_Mount_Alexmos.h.

Referenced by read_incoming().

◆ _payload_length

uint8_t AP_Mount_Alexmos::_payload_length

private

Definition at line 312 of file AP_Mount_Alexmos.h.

Referenced by read_incoming().

◆ _port

AP_HAL::UARTDriver* AP_Mount_Alexmos::_port

private

Definition at line 292 of file AP_Mount_Alexmos.h.

Referenced by init(), read_incoming(), and send_command().

◆ _step

uint8_t AP_Mount_Alexmos::_step

private

Definition at line 310 of file AP_Mount_Alexmos.h.

Referenced by read_incoming().

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

libraries/AP_Mount/AP_Mount_Alexmos.h
libraries/AP_Mount/AP_Mount_Alexmos.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_Mount_Alexmos()

Member Function Documentation

◆ control_axis()

◆ get_angles()

◆ get_boardinfo()

◆ get_realtimedata()

◆ has_pan_control()

◆ init()

◆ parse_body()

◆ read_incoming()

◆ read_params()

◆ send_command()

◆ set_mode()

◆ set_motor()

◆ status_msg()

◆ update()

◆ write_params()

Member Data Documentation

◆ _board_version

◆ _buffer

◆ _checksum

◆ _command_id

◆ _current_angle

◆ _current_firmware_version

◆ _current_parameters

◆ _firmware_beta_version

◆ _gimbal_3axis

◆ _gimbal_bat_monitoring

◆ _initialised

◆ _last_command_confirmed

◆ _param_read_once

◆ _payload_counter

◆ _payload_length

◆ _port

◆ _step