output.h

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/**
 * @file output.h
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#pragma once

#include "common.h"
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>


namespace vmount
{

struct OutputConfig {
    float gimbal_retracted_mode_value;  /**< Mixer output value for selecting gimbal retracted mode */
    float gimbal_normal_mode_value;     /**< Mixer output value for selecting gimbal normal mode */

    /** Scale factor for pitch channel (maps from angle in radians to actuator output in [-1,1]). OutputRC only. */
    float pitch_scale;
    /** Scale factor for roll channel (maps from angle in radians to actuator output in [-1,1]). OutputRC only. */
    float roll_scale;
    /** Scale factor for yaw channel (maps from angle in radians to actuator output in [-1,1]). OutputRC only. */
    float yaw_scale;

    float pitch_offset; /**< Offset for pitch channel in radians */
    float roll_offset;  /**< Offset for roll channel in radians */
    float yaw_offset;   /**< Offset for yaw channel in radians */

    uint32_t mavlink_sys_id;    /**< Mavlink target system id for mavlink output */
    uint32_t mavlink_comp_id;
};


/**
 ** class OutputBase
 * Base class for all driver output classes
 */
class OutputBase
{
public:
    OutputBase(const OutputConfig &output_config);
    virtual ~OutputBase();

    virtual int initialize();

    /**
     * Update the output.
     * @param data new command if non null
     * @return 0 on success, <0 otherwise
     */
    virtual int update(const ControlData *control_data) = 0;

    /** report status to stdout */
    virtual void print_status() = 0;

    /** Publish _angle_outputs as a mount_orientation message. */
    void publish();

protected:
    float _calculate_pitch(double lon, double lat, float altitude,
                   const vehicle_global_position_s &global_position);

    map_projection_reference_s _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]

    const OutputConfig &_config;

    /** set angle setpoints, speeds & stabilize flags */
    void _set_angle_setpoints(const ControlData *control_data);

    /** check if vehicle position changed and update the setpoint angles if in gps mode */
    void _handle_position_update(bool force_update = false);

    const ControlData *_cur_control_data = nullptr;
    float _angle_setpoints[3] = { 0.f, 0.f, 0.f }; ///< [rad]
    float _angle_speeds[3] = { 0.f, 0.f, 0.f };
    bool _stabilize[3] = { false, false, false };

    /** calculate the _angle_outputs (with speed) and stabilize if needed */
    void _calculate_output_angles(const hrt_abstime &t);

    float _angle_outputs[3] = { 0.f, 0.f, 0.f }; ///< calculated output angles (roll, pitch, yaw) [rad]
    hrt_abstime _last_update;

    int _get_vehicle_attitude_sub() const { return _vehicle_attitude_sub; }

private:
    int _vehicle_attitude_sub = -1;
    int _vehicle_global_position_sub = -1;

    orb_advert_t _mount_orientation_pub = nullptr;
};


} /* namespace vmount */