#include <AP_Mount_Backend.h>

Inheritance diagram for AP_Mount_Backend:

Collaboration diagram for AP_Mount_Backend:

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

virtual	~AP_Mount_Backend (void)

virtual void	init (const AP_SerialManager &serial_manager)=0

virtual void	update ()=0

virtual void	update_fast ()

virtual bool	has_pan_control () const =0

virtual void	set_mode (enum MAV_MOUNT_MODE mode)=0

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	status_msg (mavlink_channel_t chan)

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)

Protected Member Functions
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
AP_Mount &	_frontend

AP_Mount::mount_state &	_state

uint8_t	_instance

Vector3f	_angle_ef_target_rad

Detailed Description

Definition at line 25 of file AP_Mount_Backend.h.

Constructor & Destructor Documentation

◆ AP_Mount_Backend()

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

inline

Definition at line 29 of file AP_Mount_Backend.h.

◆ ~AP_Mount_Backend()

virtual AP_Mount_Backend::~AP_Mount_Backend ( void )

inlinevirtual

Definition at line 36 of file AP_Mount_Backend.h.

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Member Function Documentation

◆ angle_input()

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

protected

Definition at line 122 of file AP_Mount_Backend.cpp.

Referenced by angle_input_rad(), and send_gimbal_report().

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◆ angle_input_rad()

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

protected

Definition at line 129 of file AP_Mount_Backend.cpp.

Referenced by send_gimbal_report(), and update_targets_from_rc().

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◆ calc_angle_to_location()

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

protected

Definition at line 135 of file AP_Mount_Backend.cpp.

Referenced by send_gimbal_report(), AP_Mount_SToRM32_serial::update(), AP_Mount_SToRM32::update(), AP_Mount_Servo::update(), and AP_Mount_Alexmos::update().

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◆ configure_msg()

void AP_Mount_Backend::configure_msg ( mavlink_message_t * msg )

virtual

Definition at line 28 of file AP_Mount_Backend.cpp.

Referenced by AP_Mount::configure_msg(), and update_fast().

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◆ control()

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

virtual

Definition at line 45 of file AP_Mount_Backend.cpp.

Referenced by AP_Mount::control(), control_msg(), and update_fast().

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◆ control_msg()

void AP_Mount_Backend::control_msg ( mavlink_message_t * msg )

virtual

Definition at line 37 of file AP_Mount_Backend.cpp.

Referenced by AP_Mount::control_msg(), and update_fast().

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◆ get_mode()

MAV_MOUNT_MODE AP_Mount_Backend::get_mode ( void ) const

inlineprotected

Definition at line 93 of file AP_Mount_Backend.h.

Referenced by AP_Mount_SToRM32_serial::update(), AP_Mount_SToRM32::update(), AP_Mount_Servo::update(), and AP_Mount_Alexmos::update().

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◆ handle_gimbal_report()

virtual void AP_Mount_Backend::handle_gimbal_report	(	mavlink_channel_t	chan,
		mavlink_message_t *	msg
	)

inlinevirtual

Definition at line 72 of file AP_Mount_Backend.h.

Referenced by AP_Mount::handle_gimbal_report().

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◆ handle_param_value()

virtual void AP_Mount_Backend::handle_param_value ( mavlink_message_t * msg )

inlinevirtual

Definition at line 75 of file AP_Mount_Backend.h.

Referenced by AP_Mount::handle_param_value().

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◆ has_pan_control()

virtual bool AP_Mount_Backend::has_pan_control ( ) const

pure virtual

Implemented in AP_Mount_Alexmos, AP_Mount_Servo, AP_Mount_SToRM32, and AP_Mount_SToRM32_serial.

Referenced by AP_Mount::has_pan_control(), and update_fast().

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◆ init()

virtual void AP_Mount_Backend::init ( const AP_SerialManager & serial_manager )

pure virtual

Implemented in AP_Mount_Alexmos, AP_Mount_Servo, AP_Mount_SToRM32, and AP_Mount_SToRM32_serial.

Referenced by AP_Mount::init(), and ~AP_Mount_Backend().

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◆ send_gimbal_report()

virtual void AP_Mount_Backend::send_gimbal_report ( mavlink_channel_t chan )

inlinevirtual

Definition at line 78 of file AP_Mount_Backend.h.

Referenced by AP_Mount::send_gimbal_report().

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◆ set_angle_targets()

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

virtual

Definition at line 6 of file AP_Mount_Backend.cpp.

Referenced by control(), AP_Mount::set_angle_targets(), and update_fast().

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◆ set_mode()

virtual void AP_Mount_Backend::set_mode ( enum MAV_MOUNT_MODE mode )

pure virtual

Implemented in AP_Mount_Alexmos, AP_Mount_Servo, AP_Mount_SToRM32, and AP_Mount_SToRM32_serial.

Referenced by configure_msg(), AP_Mount::set_mode(), and update_fast().

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◆ set_roi_target()

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

virtual

Definition at line 18 of file AP_Mount_Backend.cpp.

Referenced by control(), AP_Mount::set_roi_target(), and update_fast().

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◆ status_msg()

virtual void AP_Mount_Backend::status_msg ( mavlink_channel_t chan )

inlinevirtual

Reimplemented in AP_Mount_Alexmos, AP_Mount_Servo, AP_Mount_SToRM32, and AP_Mount_SToRM32_serial.

Definition at line 69 of file AP_Mount_Backend.h.

Referenced by AP_Mount::status_msg().

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◆ update()

virtual void AP_Mount_Backend::update ( )

pure virtual

Implemented in AP_Mount_Alexmos, AP_Mount_Servo, AP_Mount_SToRM32, and AP_Mount_SToRM32_serial.

Referenced by AP_Mount::update(), and ~AP_Mount_Backend().

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◆ update_fast()

virtual void AP_Mount_Backend::update_fast ( )

inlinevirtual

Definition at line 45 of file AP_Mount_Backend.h.

Referenced by AP_Mount::update_fast().

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◆ update_targets_from_rc()

void AP_Mount_Backend::update_targets_from_rc ( )

protected

Definition at line 84 of file AP_Mount_Backend.cpp.

Referenced by send_gimbal_report(), AP_Mount_SToRM32_serial::update(), AP_Mount_SToRM32::update(), AP_Mount_Servo::update(), and AP_Mount_Alexmos::update().

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Member Data Documentation

◆ _angle_ef_target_rad

Vector3f AP_Mount_Backend::_angle_ef_target_rad

protected

Definition at line 98 of file AP_Mount_Backend.h.

Referenced by set_angle_targets(), AP_Mount_Servo::stabilize(), AP_Mount_SToRM32::status_msg(), AP_Mount_SToRM32_serial::update(), AP_Mount_SToRM32::update(), AP_Mount_Servo::update(), AP_Mount_Alexmos::update(), and update_targets_from_rc().

◆ _frontend

AP_Mount& AP_Mount_Backend::_frontend

protected

Definition at line 95 of file AP_Mount_Backend.h.

Referenced by calc_angle_to_location(), control(), get_mode(), set_angle_targets(), set_roi_target(), AP_Mount_Servo::stabilize(), and update_targets_from_rc().

◆ _instance

uint8_t AP_Mount_Backend::_instance

protected

Definition at line 97 of file AP_Mount_Backend.h.

Referenced by control(), get_mode(), AP_Mount_Servo::init(), set_angle_targets(), and set_roi_target().

◆ _state

AP_Mount::mount_state& AP_Mount_Backend::_state

protected

Definition at line 96 of file AP_Mount_Backend.h.

Referenced by control_msg(), AP_Mount_SToRM32_serial::init(), AP_Mount_SToRM32_serial::set_mode(), AP_Mount_SToRM32::set_mode(), AP_Mount_Servo::set_mode(), AP_Mount_Alexmos::set_mode(), set_roi_target(), AP_Mount_Servo::stabilize(), AP_Mount_SToRM32_serial::update(), AP_Mount_SToRM32::update(), AP_Mount_Servo::update(), AP_Mount_Alexmos::update(), and update_targets_from_rc().

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

libraries/AP_Mount/AP_Mount_Backend.h
libraries/AP_Mount/AP_Mount_Backend.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AP_Mount_Backend()

◆ ~AP_Mount_Backend()

Member Function Documentation

◆ angle_input()

◆ angle_input_rad()

◆ calc_angle_to_location()

◆ configure_msg()

◆ control()

◆ control_msg()

◆ get_mode()

◆ handle_gimbal_report()

◆ handle_param_value()

◆ has_pan_control()

◆ init()

◆ send_gimbal_report()

◆ set_angle_targets()

◆ set_mode()

◆ set_roi_target()

◆ status_msg()

◆ update()

◆ update_fast()

◆ update_targets_from_rc()

Member Data Documentation

◆ _angle_ef_target_rad

◆ _frontend

◆ _instance

◆ _state