wip4

Hwurzburg · Oct 18, 2024 · e0a0809 · e0a0809
1 parent 0e2abb2
commit e0a0809
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Showing 5 changed files with 11 additions and 8 deletions.
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
@@ -160,6 +160,9 @@ class AP_Mount
     //      this operation requires 60us on a Pixhawk/PX4
     void set_mode_to_default() { set_mode_to_default(_primary); }
     void set_mode_to_default(uint8_t instance);
+
+    //set operating mode, not to be confused with modes like retracted,usually axis locking modes
+    void set_mount_mode(uint8_t mount_lock_mode);   
 
     // set yaw_lock used in RC_TARGETING mode.  If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
     // If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle

diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -82,6 +82,10 @@ class AP_Mount_Backend
     // set yaw_lock used in RC_TARGETING mode.  If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
     // If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
     void set_yaw_lock(bool yaw_lock) { _yaw_lock = yaw_lock; }
+
+    //set operating mode, not to be confused with modes like retracted,usually axis locking modes
+    void set_mount_mode( uint8_t mount_lock_mode) { _mount_lock_mode = mount_lock_mode; } ;   
+    uint8_t _mount_lock_mode;
 
     // set angle target in degrees
     // roll and pitch are in earth-frame

diff --git a/libraries/AP_Mount/AP_Mount_CADDX.cpp b/libraries/AP_Mount/AP_Mount_CADDX.cpp
@@ -140,7 +140,7 @@ void AP_Mount_CADDX::send_target_angles(const MountTarget& angle_target_rad)
 
     //todo: add mode here
     cmd_set_angles_data.mode = GIMBAL_MODE_TILT_ROLL_LOCK;
-    cmd_set_angles_data.mode = mount_lock_mode;
+    cmd_set_angles_data.mode = _mount_lock_mode;
 
     // CRC here
     uint16_t crc16 = 0;

diff --git a/libraries/AP_Mount/AP_Mount_CADDX.h b/libraries/AP_Mount/AP_Mount_CADDX.h
@@ -46,10 +46,6 @@ class AP_Mount_CADDX : public AP_Mount_Backend_Serial
     // has_pitch_control - returns true if this mount can control its tilt
     bool has_pitch_control() const override { return pitch_range_valid(); };
 
-    void set_mount_mode(const uint8_t mount_lock_mode);
-
-    uint8_t mount_lock_mode;
-
 
 protected:
 

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -1759,13 +1759,13 @@ bool RC_Channel::do_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch
         }
         switch (ch_flag) {
         case AuxSwitchPos::LOW:
-            // nothing
+            mount->set_mount_mode(0);
             break;
         case AuxSwitchPos::MIDDLE:
-            // nothing
+ //           mount->set_mount_mode(1);
             break;
         case AuxSwitchPos::HIGH:
-            //nothing
+ //           mount->set_mount_mode(2);
             break;
         }
         break;