#include <AP_Mount_Servo.h>

Inheritance diagram for AP_Mount_Servo:

Collaboration diagram for AP_Mount_Servo:

Public Member Functions
	AP_Mount_Servo (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	check_servo_map ()

void	stabilize ()

int16_t	closest_limit (int16_t angle, int16_t angle_min, int16_t angle_max)

void	move_servo (uint8_t rc, int16_t angle, int16_t angle_min, int16_t angle_max)
	move_servo - moves servo with the given id to the specified angle. all angles are in degrees * 10 More...

Private Attributes
struct {
bool roll_control:1

bool tilt_control:1

bool pan_control:1

}	_flags

SRV_Channel::Aux_servo_function_t	_roll_idx

SRV_Channel::Aux_servo_function_t	_tilt_idx

SRV_Channel::Aux_servo_function_t	_pan_idx

SRV_Channel::Aux_servo_function_t	_open_idx

Vector3f	_angle_bf_output_deg

uint32_t	_last_check_servo_map_ms

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 14 of file AP_Mount_Servo.h.

Constructor & Destructor Documentation

◆ AP_Mount_Servo()

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

inline

Definition at line 18 of file AP_Mount_Servo.h.

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Member Function Documentation

◆ check_servo_map()

void AP_Mount_Servo::check_servo_map ( )

private

Definition at line 108 of file AP_Mount_Servo.cpp.

Referenced by init(), and update().

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◆ closest_limit()

int16_t AP_Mount_Servo::closest_limit	(	int16_t	angle,
		int16_t	angle_min,
		int16_t	angle_max
	)

private

Definition at line 170 of file AP_Mount_Servo.cpp.

Referenced by move_servo().

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◆ has_pan_control()

virtual bool AP_Mount_Servo::has_pan_control ( ) const

inlinevirtual

Implements AP_Mount_Backend.

Definition at line 39 of file AP_Mount_Servo.h.

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◆ init()

void AP_Mount_Servo::init ( const AP_SerialManager & serial_manager )

virtual

Implements AP_Mount_Backend.

Definition at line 6 of file AP_Mount_Servo.cpp.

Referenced by AP_Mount_Servo().

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◆ move_servo()

void AP_Mount_Servo::move_servo	(	uint8_t	rc,
		int16_t	angle,
		int16_t	angle_min,
		int16_t	angle_max
	)

private

move_servo - moves servo with the given id to the specified angle. all angles are in degrees * 10

Definition at line 196 of file AP_Mount_Servo.cpp.

Referenced by update().

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◆ set_mode()

void AP_Mount_Servo::set_mode ( enum MAV_MOUNT_MODE mode )

virtual

Implements AP_Mount_Backend.

Definition at line 98 of file AP_Mount_Servo.cpp.

Referenced by has_pan_control().

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◆ stabilize()

void AP_Mount_Servo::stabilize ( )

private

< holds 3 x 3 matrix, var is used as temp in calcs

< Rotation matrix earth to camera. Desired camera from input.

< Rotation matrix from plane to camera. Then Euler angles to the servos.

Definition at line 124 of file AP_Mount_Servo.cpp.

Referenced by update().

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◆ status_msg()

void AP_Mount_Servo::status_msg ( mavlink_channel_t chan )

virtual

Reimplemented from AP_Mount_Backend.

Definition at line 116 of file AP_Mount_Servo.cpp.

Referenced by has_pan_control().

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◆ update()

void AP_Mount_Servo::update ( void )

virtual

Implements AP_Mount_Backend.

Definition at line 26 of file AP_Mount_Servo.cpp.

Referenced by AP_Mount_Servo().

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Member Data Documentation

◆ _angle_bf_output_deg

Vector3f AP_Mount_Servo::_angle_bf_output_deg

private

Definition at line 75 of file AP_Mount_Servo.h.

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

◆ _flags

struct { ... } AP_Mount_Servo::_flags

Referenced by AP_Mount_Servo(), check_servo_map(), has_pan_control(), and update().

◆ _last_check_servo_map_ms

uint32_t AP_Mount_Servo::_last_check_servo_map_ms

private

Definition at line 77 of file AP_Mount_Servo.h.

Referenced by update().

◆ _open_idx

SRV_Channel::Aux_servo_function_t AP_Mount_Servo::_open_idx

private

Definition at line 73 of file AP_Mount_Servo.h.

Referenced by init(), and update().

◆ _pan_idx

SRV_Channel::Aux_servo_function_t AP_Mount_Servo::_pan_idx

private

Definition at line 72 of file AP_Mount_Servo.h.

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

◆ _roll_idx

SRV_Channel::Aux_servo_function_t AP_Mount_Servo::_roll_idx

private

Definition at line 70 of file AP_Mount_Servo.h.

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

◆ _tilt_idx

SRV_Channel::Aux_servo_function_t AP_Mount_Servo::_tilt_idx

private

Definition at line 71 of file AP_Mount_Servo.h.

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

◆ pan_control

bool AP_Mount_Servo::pan_control

Definition at line 53 of file AP_Mount_Servo.h.

◆ roll_control

bool AP_Mount_Servo::roll_control

Definition at line 51 of file AP_Mount_Servo.h.

◆ tilt_control

bool AP_Mount_Servo::tilt_control

Definition at line 52 of file AP_Mount_Servo.h.

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

libraries/AP_Mount/AP_Mount_Servo.h
libraries/AP_Mount/AP_Mount_Servo.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_Mount_Servo()

Member Function Documentation

◆ check_servo_map()

◆ closest_limit()

◆ has_pan_control()

◆ init()

◆ move_servo()

◆ set_mode()

◆ stabilize()

◆ status_msg()

◆ update()

Member Data Documentation

◆ _angle_bf_output_deg

◆ _flags

◆ _last_check_servo_map_ms

◆ _open_idx

◆ _pan_idx

◆ _roll_idx

◆ _tilt_idx

◆ pan_control

◆ roll_control

◆ tilt_control