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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
258 lines
6.0 KiB
C
258 lines
6.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013-2020 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 vmount_params.c
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* @author Leon Müller (thedevleon)
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* @author Matthew Edwards (mje-nz)
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*
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*/
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/**
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* Mount input mode
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*
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* RC uses the AUX input channels (see MNT_MAN_* parameters),
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* MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the
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* MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.
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*
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* @value -1 DISABLED
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* @value 0 AUTO
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* @value 1 RC
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* @value 2 MAVLINK_ROI (protocol v1)
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* @value 3 MAVLINK_DO_MOUNT (protocol v1)
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* @value 4 MAVlink gimbal protocol v2
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* @min -1
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* @max 3
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* @group Mount
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* @reboot_required true
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*/
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PARAM_DEFINE_INT32(MNT_MODE_IN, -1);
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/**
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* Mount output mode
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*
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* AUX uses the mixer output Control Group #2.
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* MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages
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* to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)
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*
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* @value 0 AUX
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* @value 1 MAVLink gimbal protocol v1
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* @value 2 MAVLink gimbal protocol v2
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* @min 0
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* @max 2
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_MODE_OUT, 0);
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/**
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* Mavlink System ID of the mount
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*
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* If MNT_MODE_OUT is MAVLink gimbal protocol v1, mount configure/control commands will be sent with this target ID.
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*
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_MAV_SYSID, 1);
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/**
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* Mavlink Component ID of the mount
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*
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* If MNT_MODE_OUT is MAVLink protocol v2, mount configure/control commands will be sent with this component ID.
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*
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_MAV_COMPID, 154);
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/**
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* Mixer value for selecting normal mode
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* if required by the gimbal (only in AUX output mode)
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*
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* @min -1.0
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* @max 1.0
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* @decimal 3
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_OB_NORM_MODE, -1.0f);
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/**
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* Mixer value for selecting a locking mode
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* if required for the gimbal (only in AUX output mode)
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*
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* @min -1.0
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* @max 1.0
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* @decimal 3
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_OB_LOCK_MODE, 0.0f);
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/**
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* Auxiliary channel to control roll (in AUX input or manual mode).
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*
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* @value 0 Disable
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @min 0
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* @max 6
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_MAN_ROLL, 0);
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/**
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* Auxiliary channel to control pitch (in AUX input or manual mode).
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*
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* @value 0 Disable
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @min 0
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* @max 6
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_MAN_PITCH, 0);
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/**
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* Auxiliary channel to control yaw (in AUX input or manual mode).
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*
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* @value 0 Disable
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* @value 1 AUX1
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* @value 2 AUX2
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* @value 3 AUX3
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* @value 4 AUX4
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* @value 5 AUX5
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* @value 6 AUX6
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* @min 0
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* @max 6
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_MAN_YAW, 0);
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/**
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* Stabilize the mount (set to true for servo gimbal, false for passthrough).
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* (This is required for a gimbal which is not capable of stabilizing itself
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* and relies on the IMU's attitude estimation.)
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*
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* @value 0 Disable
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* @value 1 Stabilize all axis
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* @value 2 Stabilize yaw for absolute/lock mode.
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* @min 0
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* @max 2
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* @group Mount
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*/
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PARAM_DEFINE_INT32(MNT_DO_STAB, 0);
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/**
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* Range of pitch channel output in degrees (only in AUX output mode).
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*
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* @min 1.0
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* @max 720.0
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* @decimal 1
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_RANGE_PITCH, 360.0f);
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/**
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* Range of roll channel output in degrees (only in AUX output mode).
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*
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* @min 1.0
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* @max 720.0
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* @decimal 1
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_RANGE_ROLL, 360.0f);
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/**
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* Range of yaw channel output in degrees (only in AUX output mode).
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*
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* @min 1.0
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* @max 720.0
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* @decimal 1
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_RANGE_YAW, 360.0f);
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/**
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* Offset for pitch channel output in degrees.
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*
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* @min -360.0
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* @max 360.0
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* @decimal 1
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_OFF_PITCH, 0.0f);
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/**
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* Offset for roll channel output in degrees.
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*
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* @min -360.0
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* @max 360.0
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* @decimal 1
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_OFF_ROLL, 0.0f);
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/**
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* Offset for yaw channel output in degrees.
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*
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* @min -360.0
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* @max 360.0
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* @decimal 1
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_OFF_YAW, 0.0f);
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/**
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* Angular pitch rate for manual input in degrees/second.
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* Full stick input [-1..1] translats to [-pitch rate..pitch rate].
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*
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* @min 1.0
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* @max 90.0
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_RATE_PITCH, 30.0f);
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/**
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* Angular yaw rate for manual input in degrees/second.
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* Full stick input [-1..1] translats to [-yaw rate..yaw rate].
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*
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* @min 1.0
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* @max 90.0
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* @group Mount
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*/
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PARAM_DEFINE_FLOAT(MNT_RATE_YAW, 30.0f);
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