C++ (Cpp) mavlink_msg_mount_status_send Examples

Example #1

File: AP_Mount_SoloGimbal.cpp Project: KIrill-ka/ardupilot

// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_SoloGimbal::send_mount_status(mavlink_channel_t chan)
{
    if (_gimbal.aligned()) {
        mavlink_msg_mount_status_send(chan, 0, 0, degrees(_angle_ef_target_rad.y)*100, degrees(_angle_ef_target_rad.x)*100, degrees(_angle_ef_target_rad.z)*100);
    }
    
    // block heartbeat from transmitting to the GCS
    GCS_MAVLINK::disable_channel_routing(chan);
}

Example #2

File: AP_Mount_Alexmos.cpp Project: DroneBuster/ardupilot

// send_mount_status - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_Alexmos::send_mount_status(mavlink_channel_t chan)
{
    if (!_initialised) {
        return;
    }

    get_angles();
    mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.y*100, _current_angle.x*100, _current_angle.z*100);
}

Example #3

File: BP_Mount_Component.cpp Project: chinaboy2277/storm32bgc

// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void BP_Mount_Component::status_msg(mavlink_channel_t chan)
{
    // return target angles as gimbal's actual attitude.  To-Do: retrieve actual gimbal attitude and send these instead
    //mavlink_msg_mount_status_send(chan, 0, 0, ToDeg(_angle_ef_target_rad.y)*100, ToDeg(_angle_ef_target_rad.x)*100, ToDeg(_angle_ef_target_rad.z)*100);
    float pitch_deg, roll_deg, yaw_deg;
    get_target_angles_deg(&pitch_deg, &roll_deg, &yaw_deg);
    // MAVLink MOUNT_STATUS: int32_t pitch(deg*100), int32_t roll(deg*100), int32_t yaw(deg*100)
    mavlink_msg_mount_status_send(chan, 0, 0, pitch_deg*100.0f, roll_deg*100.0f, yaw_deg*100.0f);
}

Example #4

File: AP_Mount_SToRM32.cpp Project: APM602/APM602

// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_SToRM32::status_msg(mavlink_channel_t chan)
{
    // return target angles as gimbal's actual attitude.  To-Do: retrieve actual gimbal attitude and send these instead
    mavlink_msg_mount_status_send(chan, 0, 0, ToDeg(_angle_ef_target_rad.y)*100, ToDeg(_angle_ef_target_rad.x)*100, ToDeg(_angle_ef_target_rad.z)*100);
}

Example #5

File: AP_Mount_MAVLink.cpp Project: AurelienRoy/ardupilot

// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_MAVLink::status_msg(mavlink_channel_t chan)
{
    Vector3f est = _gimbal.getGimbalEstimateEF();
    mavlink_msg_mount_status_send(chan, 0, 0, degrees(est.y)*100, degrees(est.x)*100, degrees(est.z)*100);
}

Example #6

File: AP_Mount_SToRM32_serial.cpp Project: CUAir/ardupilot

// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_SToRM32_serial::status_msg(mavlink_channel_t chan)
{
    // return target angles as gimbal's actual attitude.
    mavlink_msg_mount_status_send(chan, 0, 0, _current_angle.y, _current_angle.x, _current_angle.z);
}

Example #7

File: AP_Mount_Servo.cpp Project: MarkMote/ardupilot

// status_msg - called to allow mounts to send their status to GCS using the MOUNT_STATUS message
void AP_Mount_Servo::status_msg(mavlink_channel_t chan)
{
    mavlink_msg_mount_status_send(chan, 0, 0, _angle_bf_output_deg.x*100, _angle_bf_output_deg.y*100, _angle_bf_output_deg.z*100);
}