void OutputBase::_set_angle_setpoints(const ControlData *control_data)
{
_cur_control_data = control_data;
for (int i = 0; i < 3; ++i) {
_stabilize[i] = control_data->stabilize_axis[i];
_angle_speeds[i] = 0.f;
}
switch (control_data->type) {
case ControlData::Type::Angle:
for (int i = 0; i < 3; ++i) {
if (control_data->type_data.angle.is_speed[i]) {
_angle_speeds[i] = control_data->type_data.angle.angles[i];
} else {
_angle_setpoints[i] = control_data->type_data.angle.angles[i];
}
}
break;
case ControlData::Type::LonLat:
_handle_position_update(true);
break;
case ControlData::Type::Neutral:
_angle_setpoints[0] = 0.f;
_angle_setpoints[1] = 0.f;
_angle_setpoints[2] = 0.f;
break;
}
}
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;
}
