output_rc.cpp

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/**
 * @file output_rc.cpp
 * @author Leon Müller (thedevleon)
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "output_rc.h"

#include <uORB/topics/actuator_controls.h>
#include <px4_platform_common/defines.h>


namespace vmount
{

OutputRC::OutputRC(const OutputConfig &output_config)
    : OutputBase(output_config)
{
}
OutputRC::~OutputRC()
{
    if (_actuator_controls_pub) {
        orb_unadvertise(_actuator_controls_pub);
    }
}

int OutputRC::update(const ControlData *control_data)
{
    if (control_data) {
        //got new command
        _retract_gimbal = control_data->gimbal_shutter_retract;
        _set_angle_setpoints(control_data);
    }

    _handle_position_update();

    hrt_abstime t = hrt_absolute_time();
    _calculate_output_angles(t);

    actuator_controls_s actuator_controls;
    actuator_controls.timestamp = hrt_absolute_time();
    // _angle_outputs are in radians, actuator_controls are in [-1, 1]
    actuator_controls.control[0] = (_angle_outputs[0] + _config.roll_offset) * _config.roll_scale;
    actuator_controls.control[1] = (_angle_outputs[1] + _config.pitch_offset) * _config.pitch_scale;
    actuator_controls.control[2] = (_angle_outputs[2] + _config.yaw_offset) * _config.yaw_scale;
    actuator_controls.control[3] = _retract_gimbal ? _config.gimbal_retracted_mode_value : _config.gimbal_normal_mode_value;

    int instance;
    orb_publish_auto(ORB_ID(actuator_controls_2), &_actuator_controls_pub, &actuator_controls,
             &instance, ORB_PRIO_DEFAULT);

    _last_update = t;

    return 0;
}

void OutputRC::print_status()
{
    PX4_INFO("Output: AUX");
}

} /* namespace vmount */