move vmount to modules (it's not a driver)

2026-05-21 09:22:18 +00:00 · 2018-12-01 13:58:15 -05:00
parent 9d42480f4e
commit bbab66d974
52 changed files with 35 additions and 33 deletions
--- a/src/modules/vmount/output_mavlink.cpp
+++ b/src/modules/vmount/output_mavlink.cpp
@@ -0,0 +1,124 @@
+/****************************************************************************
+*
+*   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* 1. Redistributions of source code must retain the above copyright
+*    notice, this list of conditions and the following disclaimer.
+* 2. Redistributions in binary form must reproduce the above copyright
+*    notice, this list of conditions and the following disclaimer in
+*    the documentation and/or other materials provided with the
+*    distribution.
+* 3. Neither the name PX4 nor the names of its contributors may be
+*    used to endorse or promote products derived from this software
+*    without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*
+****************************************************************************/
+
+/**
+ * @file output_mavlink.cpp
+ * @author Leon Müller (thedevleon)
+ * @author Beat Küng <beat-kueng@gmx.net>
+ *
+ */
+
+#include "output_mavlink.h"
+
+#include <uORB/topics/vehicle_command.h>
+#include <px4_defines.h>
+
+
+namespace vmount
+{
+
+OutputMavlink::OutputMavlink(const OutputConfig &output_config)
+	: OutputBase(output_config)
+{
+}
+
+OutputMavlink::~OutputMavlink()
+{
+	if (_vehicle_command_pub) {
+		orb_unadvertise(_vehicle_command_pub);
+	}
+}
+
+int OutputMavlink::update(const ControlData *control_data)
+{
+	vehicle_command_s vehicle_command = {};
+	vehicle_command.timestamp = hrt_absolute_time();
+	vehicle_command.target_system = (uint8_t)_config.mavlink_sys_id;
+	vehicle_command.target_component = (uint8_t)_config.mavlink_comp_id;
+
+	if (control_data) {
+		//got new command
+		_set_angle_setpoints(control_data);
+
+		vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
+		vehicle_command.timestamp = hrt_absolute_time();
+
+		if (control_data->type == ControlData::Type::Neutral) {
+			vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL;
+
+		} else {
+			vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
+		}
+
+		if (_vehicle_command_pub) {
+			orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);
+
+		} else {
+			_vehicle_command_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vehicle_command,
+					       vehicle_command_s::ORB_QUEUE_LENGTH);
+		}
+
+	}
+
+	if (!_vehicle_command_pub) {
+		return 0;
+	}
+
+	_handle_position_update();
+
+	hrt_abstime t = hrt_absolute_time();
+	_calculate_output_angles(t);
+
+	vehicle_command.timestamp = t;
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
+
+	// vmount spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
+	// vmount uses radians, MAVLink uses degrees
+	vehicle_command.param1 = (_angle_outputs[1] + _config.pitch_offset) * M_RAD_TO_DEG_F;
+	vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
+	vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
+
+	orb_publish(ORB_ID(vehicle_command), _vehicle_command_pub, &vehicle_command);
+
+	_last_update = t;
+
+	return 0;
+}
+
+void OutputMavlink::print_status()
+{
+	PX4_INFO("Output: Mavlink");
+}
+
+} /* namespace vmount */
+