vmount.cpp File Reference

#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdbool.h>
#include <string.h>
#include <sys/types.h>
#include <fcntl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <lib/parameters/param.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/tasks.h>
#include "input_mavlink.h"
#include "input_rc.h"
#include "input_test.h"
#include "output_rc.h"
#include "output_mavlink.h"
#include <uORB/Subscription.hpp>
#include <uORB/topics/parameter_update.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/module.h>

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Classes
struct	ThreadData
struct	Parameters
struct	ParameterHandles

Functions
static void	usage ()
static void	update_params (ParameterHandles &param_handles, Parameters &params, bool &got_changes)
static bool	get_params (ParameterHandles &param_handles, Parameters &params)
static int	vmount_thread_main (int argc, char *argv[])
__EXPORT int	vmount_main (int argc, char *argv[])
	The main command function. More...

Variables
static volatile bool	thread_should_exit = false
static volatile bool	thread_running = false
static constexpr int	input_objs_len_max = 3
static volatile ThreadData *	g_thread_data = nullptr

Detailed Description

Author

Leon Müller (thedevleon)

Beat Küng beat-.nosp@m.kuen.nosp@m.g@gmx.nosp@m..net

Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch

Matthew Edwards (mje-nz)

Driver for to control mounts such as gimbals or servos. Inputs for the mounts can RC and/or mavlink commands. Outputs to the mounts can be RC (PWM) output or mavlink.

Definition in file vmount.cpp.

Function Documentation

get_params()

bool get_params ( ParameterHandles &  param_handles, Parameters &  params  )

static

Definition at line 548 of file vmount.cpp.

References ParameterHandles::mnt_do_stab, ParameterHandles::mnt_man_pitch, ParameterHandles::mnt_man_roll, ParameterHandles::mnt_man_yaw, ParameterHandles::mnt_mav_compid, ParameterHandles::mnt_mav_sysid, ParameterHandles::mnt_mode_in, ParameterHandles::mnt_mode_out, ParameterHandles::mnt_ob_lock_mode, ParameterHandles::mnt_ob_norm_mode, ParameterHandles::mnt_off_pitch, ParameterHandles::mnt_off_roll, ParameterHandles::mnt_off_yaw, ParameterHandles::mnt_range_pitch, ParameterHandles::mnt_range_roll, ParameterHandles::mnt_range_yaw, param_find(), PARAM_INVALID, and update_params().

Referenced by vmount_thread_main().

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update_params()

void update_params ( ParameterHandles &  param_handles, Parameters &  params, bool &  got_changes  )

static

Definition at line 525 of file vmount.cpp.

References Parameters::mnt_do_stab, ParameterHandles::mnt_do_stab, Parameters::mnt_man_pitch, ParameterHandles::mnt_man_pitch, Parameters::mnt_man_roll, ParameterHandles::mnt_man_roll, Parameters::mnt_man_yaw, ParameterHandles::mnt_man_yaw, Parameters::mnt_mav_compid, ParameterHandles::mnt_mav_compid, Parameters::mnt_mav_sysid, ParameterHandles::mnt_mav_sysid, Parameters::mnt_mode_in, ParameterHandles::mnt_mode_in, Parameters::mnt_mode_out, ParameterHandles::mnt_mode_out, Parameters::mnt_ob_lock_mode, ParameterHandles::mnt_ob_lock_mode, Parameters::mnt_ob_norm_mode, ParameterHandles::mnt_ob_norm_mode, Parameters::mnt_off_pitch, ParameterHandles::mnt_off_pitch, Parameters::mnt_off_roll, ParameterHandles::mnt_off_roll, Parameters::mnt_off_yaw, ParameterHandles::mnt_off_yaw, Parameters::mnt_range_pitch, ParameterHandles::mnt_range_pitch, Parameters::mnt_range_roll, ParameterHandles::mnt_range_roll, Parameters::mnt_range_yaw, ParameterHandles::mnt_range_yaw, and param_get().

Referenced by UavcanNode::attachITxQueueInjector(), get_params(), and vmount_thread_main().

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usage()

static void usage ( void  )

static

Definition at line 591 of file vmount.cpp.

Referenced by vmount_main(), and vmount_thread_main().

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vmount_main()

int vmount_main	(	int	argc,
		char *	argv[]
	)

The main command function.

Processes command line arguments and starts the daemon.

Definition at line 427 of file vmount.cpp.

References counter, ThreadData::input_objs, ThreadData::input_objs_len, ThreadData::output_obj, vmount::InputBase::print_status(), vmount::OutputBase::print_status(), thread_running, thread_should_exit, usage(), and vmount_thread_main().

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vmount_thread_main()

static int vmount_thread_main ( int  argc, char *  argv[]  )

static

Definition at line 157 of file vmount.cpp.

References vmount::InputTest::finished(), get_params(), vmount::OutputConfig::gimbal_normal_mode_value, vmount::OutputConfig::gimbal_retracted_mode_value, vmount::OutputBase::initialize(), ThreadData::input_objs, ThreadData::input_objs_len, input_objs_len_max, vmount::OutputConfig::mavlink_comp_id, vmount::OutputConfig::mavlink_sys_id, ORB_ID, ThreadData::output_obj, vmount::OutputConfig::pitch_offset, vmount::OutputConfig::pitch_scale, vmount::OutputBase::publish(), vmount::OutputConfig::roll_offset, vmount::OutputConfig::roll_scale, thread_running, thread_should_exit, vmount::InputBase::update(), vmount::OutputBase::update(), update_params(), usage(), vmount::OutputConfig::yaw_offset, and vmount::OutputConfig::yaw_scale.

Referenced by vmount_main().

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Variable Documentation

g_thread_data

volatile ThreadData* g_thread_data = nullptr

static

Definition at line 84 of file vmount.cpp.

input_objs_len_max

constexpr int input_objs_len_max = 3

static

Definition at line 77 of file vmount.cpp.

Referenced by vmount_thread_main().

thread_running

volatile bool thread_running = false

static

Definition at line 75 of file vmount.cpp.

Referenced by vmount_main(), and vmount_thread_main().

thread_should_exit

volatile bool thread_should_exit = false

static

Definition at line 74 of file vmount.cpp.

Referenced by vmount_main(), and vmount_thread_main().