output.h

Go to the documentation of this file.

/****************************************************************************
*
*   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.
*
****************************************************************************/

#pragma once

#include "common.h"
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>


namespace vmount
{

struct OutputConfig {
    float gimbal_retracted_mode_value;  
    float gimbal_normal_mode_value;     
    float pitch_scale;
    float roll_scale;
    float yaw_scale;

    float pitch_offset; 
    float roll_offset;  
    float yaw_offset;   
    uint32_t mavlink_sys_id;    
    uint32_t mavlink_comp_id;
};


class OutputBase
{
public:
    OutputBase(const OutputConfig &output_config);
    virtual ~OutputBase();

    virtual int initialize();

    virtual int update(const ControlData *control_data) = 0;

    virtual void print_status() = 0;

    void publish();

protected:
    float _calculate_pitch(double lon, double lat, float altitude,
                   const vehicle_global_position_s &global_position);

    map_projection_reference_s _projection_reference = {}; 

    const OutputConfig &_config;

    void _set_angle_setpoints(const ControlData *control_data);

    void _handle_position_update(bool force_update = false);

    const ControlData *_cur_control_data = nullptr;
    float _angle_setpoints[3] = { 0.f, 0.f, 0.f }; 
    float _angle_speeds[3] = { 0.f, 0.f, 0.f };
    bool _stabilize[3] = { false, false, false };

    void _calculate_output_angles(const hrt_abstime &t);

    float _angle_outputs[3] = { 0.f, 0.f, 0.f }; 
    hrt_abstime _last_update;

    int _get_vehicle_attitude_sub() const { return _vehicle_attitude_sub; }

private:
    int _vehicle_attitude_sub = -1;
    int _vehicle_global_position_sub = -1;

    orb_advert_t _mount_orientation_pub = nullptr;
};


} /* namespace vmount */