APM:Libraries: AP_Mount_SToRM32_serial Class Reference

APM:Libraries

#include <AP_Mount_SToRM32_serial.h>

Inheritance diagram for AP_Mount_SToRM32_serial:

Collaboration diagram for AP_Mount_SToRM32_serial:

Classes
struct	cmd_set_angles_struct

union	SToRM32_reply

struct	SToRM32_reply_ack_struct

struct	SToRM32_reply_data_struct

Public Member Functions
	AP_Mount_SToRM32_serial (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 Types
enum	ReplyType { ReplyType_UNKNOWN = 0, ReplyType_DATA, ReplyType_ACK }

Private Member Functions
void	send_target_angles (float pitch_deg, float roll_deg, float yaw_deg)

void	get_angles ()

void	read_incoming ()

void	parse_reply ()

uint8_t	get_reply_size (ReplyType reply_type)

bool	can_send (bool with_control)

Private Attributes
AP_HAL::UARTDriver *	_port

bool	_initialised

uint32_t	_last_send

uint8_t	_reply_length

uint8_t	_reply_counter

ReplyType	_reply_type

union PACKED AP_Mount_SToRM32_serial::SToRM32_reply	_buffer

Vector3l	_current_angle

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 18 of file AP_Mount_SToRM32_serial.h.

Member Enumeration Documentation

◆ ReplyType

enum AP_Mount_SToRM32_serial::ReplyType

private

Enumerator
ReplyType_UNKNOWN
ReplyType_DATA
ReplyType_ACK

Definition at line 52 of file AP_Mount_SToRM32_serial.h.

Constructor & Destructor Documentation

◆ AP_Mount_SToRM32_serial()

AP_Mount_SToRM32_serial::AP_Mount_SToRM32_serial	(	AP_Mount &	frontend,
		AP_Mount::mount_state &	state,
		uint8_t	instance
	)

Definition at line 9 of file AP_Mount_SToRM32_serial.cpp.

Member Function Documentation

◆ can_send()

bool AP_Mount_SToRM32_serial::can_send ( bool with_control )

private

Definition at line 138 of file AP_Mount_SToRM32_serial.cpp.

Referenced by update().

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◆ get_angles()

void AP_Mount_SToRM32_serial::get_angles ( )

private

Definition at line 193 of file AP_Mount_SToRM32_serial.cpp.

Referenced by update().

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◆ get_reply_size()

uint8_t AP_Mount_SToRM32_serial::get_reply_size ( ReplyType reply_type )

private

Definition at line 207 of file AP_Mount_SToRM32_serial.cpp.

Referenced by read_incoming(), and update().

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◆ has_pan_control()

bool AP_Mount_SToRM32_serial::has_pan_control ( ) const

virtual

Implements AP_Mount_Backend.

Definition at line 113 of file AP_Mount_SToRM32_serial.cpp.

◆ init()

void AP_Mount_SToRM32_serial::init ( const AP_SerialManager & serial_manager )

virtual

Implements AP_Mount_Backend.

Definition at line 20 of file AP_Mount_SToRM32_serial.cpp.

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◆ parse_reply()

void AP_Mount_SToRM32_serial::parse_reply ( )

private

Definition at line 261 of file AP_Mount_SToRM32_serial.cpp.

Referenced by read_incoming().

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◆ read_incoming()

void AP_Mount_SToRM32_serial::read_incoming ( )

private

Definition at line 221 of file AP_Mount_SToRM32_serial.cpp.

Referenced by update().

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◆ send_target_angles()

void AP_Mount_SToRM32_serial::send_target_angles	(	float	pitch_deg,
		float	roll_deg,
		float	yaw_deg
	)

private

Definition at line 148 of file AP_Mount_SToRM32_serial.cpp.

Referenced by update().

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◆ set_mode()

void AP_Mount_SToRM32_serial::set_mode ( enum MAV_MOUNT_MODE mode )

virtual

Implements AP_Mount_Backend.

Definition at line 120 of file AP_Mount_SToRM32_serial.cpp.

Referenced by init().

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◆ status_msg()

void AP_Mount_SToRM32_serial::status_msg ( mavlink_channel_t chan )

virtual

Reimplemented from AP_Mount_Backend.

Definition at line 132 of file AP_Mount_SToRM32_serial.cpp.

◆ update()

void AP_Mount_SToRM32_serial::update ( void )

virtual

Implements AP_Mount_Backend.

Definition at line 31 of file AP_Mount_SToRM32_serial.cpp.

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Member Data Documentation

◆ _buffer

union PACKED AP_Mount_SToRM32_serial::SToRM32_reply AP_Mount_SToRM32_serial::_buffer

private

Referenced by parse_reply(), and read_incoming().

◆ _current_angle

Vector3l AP_Mount_SToRM32_serial::_current_angle

private

Definition at line 150 of file AP_Mount_SToRM32_serial.h.

Referenced by parse_reply(), and status_msg().

◆ _initialised

bool AP_Mount_SToRM32_serial::_initialised

private

Definition at line 135 of file AP_Mount_SToRM32_serial.h.

Referenced by get_angles(), init(), send_target_angles(), set_mode(), and update().

◆ _last_send

uint32_t AP_Mount_SToRM32_serial::_last_send

private

Definition at line 136 of file AP_Mount_SToRM32_serial.h.

Referenced by send_target_angles(), and update().

◆ _port

AP_HAL::UARTDriver* AP_Mount_SToRM32_serial::_port

private

Definition at line 133 of file AP_Mount_SToRM32_serial.h.

Referenced by can_send(), get_angles(), init(), read_incoming(), and send_target_angles().

◆ _reply_counter

uint8_t AP_Mount_SToRM32_serial::_reply_counter

private

Definition at line 139 of file AP_Mount_SToRM32_serial.h.

Referenced by read_incoming(), and update().

◆ _reply_length

uint8_t AP_Mount_SToRM32_serial::_reply_length

private

Definition at line 138 of file AP_Mount_SToRM32_serial.h.

Referenced by read_incoming(), and update().

◆ _reply_type

ReplyType AP_Mount_SToRM32_serial::_reply_type

private

Definition at line 140 of file AP_Mount_SToRM32_serial.h.

Referenced by can_send(), parse_reply(), read_incoming(), and update().

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

libraries/AP_Mount/AP_Mount_SToRM32_serial.h
libraries/AP_Mount/AP_Mount_SToRM32_serial.cpp