vmount_params.c File Reference

Functions
	PARAM_DEFINE_INT32 (MNT_MODE_IN, -1)
	Mount input mode. More...
	PARAM_DEFINE_INT32 (MNT_MODE_OUT, 0)
	Mount output mode. More...
	PARAM_DEFINE_INT32 (MNT_MAV_SYSID, 1)
	Mavlink System ID of the mount. More...
	PARAM_DEFINE_INT32 (MNT_MAV_COMPID, 154)
	Mavlink Component ID of the mount. More...
	PARAM_DEFINE_FLOAT (MNT_OB_NORM_MODE, -1.0f)
	Mixer value for selecting normal mode if required by the gimbal (only in AUX output mode) More...
	PARAM_DEFINE_FLOAT (MNT_OB_LOCK_MODE, 0.0f)
	Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode) More...
	PARAM_DEFINE_INT32 (MNT_MAN_ROLL, 0)
	Auxiliary channel to control roll (in AUX input or manual mode). More...
	PARAM_DEFINE_INT32 (MNT_MAN_PITCH, 0)
	Auxiliary channel to control pitch (in AUX input or manual mode). More...
	PARAM_DEFINE_INT32 (MNT_MAN_YAW, 0)
	Auxiliary channel to control yaw (in AUX input or manual mode). More...
	PARAM_DEFINE_INT32 (MNT_DO_STAB, 0)
	Stabilize the mount (set to true for servo gimbal, false for passthrough). More...
	PARAM_DEFINE_FLOAT (MNT_RANGE_PITCH, 360.0f)
	Range of pitch channel output in degrees (only in AUX output mode). More...
	PARAM_DEFINE_FLOAT (MNT_RANGE_ROLL, 360.0f)
	Range of roll channel output in degrees (only in AUX output mode). More...
	PARAM_DEFINE_FLOAT (MNT_RANGE_YAW, 360.0f)
	Range of yaw channel output in degrees (only in AUX output mode). More...
	PARAM_DEFINE_FLOAT (MNT_OFF_PITCH, 0.0f)
	Offset for pitch channel output in degrees. More...
	PARAM_DEFINE_FLOAT (MNT_OFF_ROLL, 0.0f)
	Offset for roll channel output in degrees. More...
	PARAM_DEFINE_FLOAT (MNT_OFF_YAW, 0.0f)
	Offset for yaw channel output in degrees. More...

Detailed Description

Author

Leon Müller (thedevleon)

Matthew Edwards (mje-nz)

Function Documentation

PARAM_DEFINE_FLOAT() [1/8]

PARAM_DEFINE_FLOAT	(	MNT_OB_NORM_MODE	,
		-1.	0f
	)

Mixer value for selecting normal mode if required by the gimbal (only in AUX output mode)

-1.0 1.0 3 Mount

PARAM_DEFINE_FLOAT() [2/8]

PARAM_DEFINE_FLOAT	(	MNT_OB_LOCK_MODE	,
		0.	0f
	)

Mixer value for selecting a locking mode if required for the gimbal (only in AUX output mode)

-1.0 1.0 3 Mount

PARAM_DEFINE_FLOAT() [3/8]

PARAM_DEFINE_FLOAT	(	MNT_RANGE_PITCH	,
		360.	0f
	)

Range of pitch channel output in degrees (only in AUX output mode).

1.0 720.0 1 Mount

PARAM_DEFINE_FLOAT() [4/8]

PARAM_DEFINE_FLOAT	(	MNT_RANGE_ROLL	,
		360.	0f
	)

Range of roll channel output in degrees (only in AUX output mode).

1.0 720.0 1 Mount

PARAM_DEFINE_FLOAT() [5/8]

PARAM_DEFINE_FLOAT	(	MNT_RANGE_YAW	,
		360.	0f
	)

Range of yaw channel output in degrees (only in AUX output mode).

1.0 720.0 1 Mount

PARAM_DEFINE_FLOAT() [6/8]

PARAM_DEFINE_FLOAT	(	MNT_OFF_PITCH	,
		0.	0f
	)

Offset for pitch channel output in degrees.

-360.0 360.0 1 Mount

PARAM_DEFINE_FLOAT() [7/8]

PARAM_DEFINE_FLOAT	(	MNT_OFF_ROLL	,
		0.	0f
	)

Offset for roll channel output in degrees.

-360.0 360.0 1 Mount

PARAM_DEFINE_FLOAT() [8/8]

PARAM_DEFINE_FLOAT	(	MNT_OFF_YAW	,
		0.	0f
	)

Offset for yaw channel output in degrees.

-360.0 360.0 1 Mount

PARAM_DEFINE_INT32() [1/8]

PARAM_DEFINE_INT32	(	MNT_MODE_IN	,
		-	1
	)

Mount input mode.

RC uses the AUX input channels (see MNT_MAN_* parameters), MAVLINK_ROI uses the MAV_CMD_DO_SET_ROI Mavlink message, and MAVLINK_DO_MOUNT the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL messages to control a mount.

-1 DISABLED 0 AUTO 1 RC 2 MAVLINK_ROI 3 MAVLINK_DO_MOUNT -1 3 Mount true

PARAM_DEFINE_INT32() [2/8]

PARAM_DEFINE_INT32	(	MNT_MODE_OUT	,
		0
	)

Mount output mode.

AUX uses the mixer output Control Group #2. MAVLINK uses the MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL MavLink messages to control a mount (set MNT_MAV_SYSID & MNT_MAV_COMPID)

0 AUX 1 MAVLINK 0 1 Mount

PARAM_DEFINE_INT32() [3/8]

PARAM_DEFINE_INT32	(	MNT_MAV_SYSID	,
		1
	)

Mavlink System ID of the mount.

If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this target ID.

Mount

PARAM_DEFINE_INT32() [4/8]

PARAM_DEFINE_INT32	(	MNT_MAV_COMPID	,
		154
	)

Mavlink Component ID of the mount.

If MNT_MODE_OUT is MAVLINK, mount configure/control commands will be sent with this component ID.

Mount

PARAM_DEFINE_INT32() [5/8]

PARAM_DEFINE_INT32	(	MNT_MAN_ROLL	,
		0
	)

Auxiliary channel to control roll (in AUX input or manual mode).

0 Disable 1 AUX1 2 AUX2 3 AUX3 4 AUX4 5 AUX5 6 AUX6 0 5 Mount

PARAM_DEFINE_INT32() [6/8]

PARAM_DEFINE_INT32	(	MNT_MAN_PITCH	,
		0
	)

Auxiliary channel to control pitch (in AUX input or manual mode).

0 Disable 1 AUX1 2 AUX2 3 AUX3 4 AUX4 5 AUX5 6 AUX6 0 5 Mount

PARAM_DEFINE_INT32() [7/8]

PARAM_DEFINE_INT32	(	MNT_MAN_YAW	,
		0
	)

Auxiliary channel to control yaw (in AUX input or manual mode).

0 Disable 1 AUX1 2 AUX2 3 AUX3 4 AUX4 5 AUX5 6 AUX6 0 5 Mount

PARAM_DEFINE_INT32() [8/8]

PARAM_DEFINE_INT32	(	MNT_DO_STAB	,
		0
	)

Stabilize the mount (set to true for servo gimbal, false for passthrough).

Does not affect MAVLINK_ROI input.

Mount