input_test.cpp

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/**
 * @file input_test.cpp
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "input_test.h"

#include <math.h>

#include <px4_platform_common/posix.h>


namespace vmount
{

InputTest::InputTest(float roll_deg, float pitch_deg, float yaw_deg)
{
    _angles[0] = roll_deg;
    _angles[1] = pitch_deg;
    _angles[2] = yaw_deg;
}

bool InputTest::finished()
{
    return true; /* only a single-shot test (for now) */
}

int InputTest::update(unsigned int timeout_ms, ControlData **control_data, bool already_active)
{
    //we directly override the update() here, since we don't need the initialization from the base class

    _control_data.type = ControlData::Type::Angle;

    for (int i = 0; i < 3; ++i) {
        _control_data.type_data.angle.is_speed[i] = false;
        _control_data.type_data.angle.angles[i] = _angles[i] * M_DEG_TO_RAD_F;

        _control_data.stabilize_axis[i] = false;
    }

    _control_data.gimbal_shutter_retract = false;
    *control_data = &_control_data;
    return 0;
}

int InputTest::initialize()
{
    return 0;
}

void InputTest::print_status()
{
    PX4_INFO("Input: Test");
}

} /* namespace vmount */