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e6b1775bb6
This is a collection of commits all having to do with changes in the Mavlink gimbal v2 protocol as described in: https://mavlink.io/en/services/gimbal_v2.html
96 lines
3.3 KiB
C++
96 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016-2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file output_mavlink.h
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* @author Beat Küng <beat-kueng@gmx.net>
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*
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*/
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#pragma once
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#include "output.h"
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#include <uORB/Publication.hpp>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/gimbal_device_set_attitude.h>
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#include <uORB/topics/gimbal_device_information.h>
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namespace vmount
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{
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/**
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** class OutputMavlink
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* Output via vehicle_command topic
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*/
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class OutputMavlinkV1 : public OutputBase
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{
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public:
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OutputMavlinkV1(const OutputConfig &output_config);
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virtual ~OutputMavlinkV1() = default;
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virtual int update(const ControlData *control_data);
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virtual void print_status();
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private:
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uORB::PublicationQueued<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
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};
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class OutputMavlinkV2 : public OutputBase
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{
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public:
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OutputMavlinkV2(int32_t mav_sys_id, int32_t mav_comp_id, const OutputConfig &output_config);
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virtual ~OutputMavlinkV2() = default;
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virtual int update(const ControlData *control_data);
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virtual void print_status();
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private:
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void _publish_gimbal_device_set_attitude(const ControlData *control_data);
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void _request_gimbal_device_information();
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void _check_for_gimbal_device_information();
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uORB::Publication<gimbal_device_set_attitude_s> _gimbal_device_set_attitude_pub{ORB_ID(gimbal_device_set_attitude)};
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uORB::Subscription _gimbal_device_information_sub{ORB_ID(gimbal_device_information)};
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int32_t _mav_sys_id{1}; ///< our mavlink system id
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int32_t _mav_comp_id{1}; ///< our mavlink component id
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uint8_t _gimbal_device_compid{0};
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hrt_abstime _last_gimbal_device_checked{0};
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bool _gimbal_device_found {false};
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};
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} /* namespace vmount */
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