libraries/AP_Mount/AP_Mount_Params.h

   1 #pragma once
   2
   3 #include <AP_Param/AP_Param.h>
   4 #include <AP_Math/AP_Math.h>
   5
   6 class AP_Mount_Params {
   7
   8 public:
   9
  10     static const struct AP_Param::GroupInfo var_info[];
  11
  12     AP_Mount_Params(void);
  13
  14     /* Do not allow copies */
  15     CLASS_NO_COPY(AP_Mount_Params);
  16
  17     AP_Int8     type;               // mount type (see Mount::Type enum)
  18     AP_Int8     default_mode;       // default mode on startup and when control is returned from autopilot
  19     AP_Int16    rc_rate_max;        // Pilot rate control's maximum rate.  Set to zero to use angle control
  20     AP_Int16    roll_angle_min;     // roll angle min in degrees
  21     AP_Int16    roll_angle_max;     // roll angle max in degrees
  22     AP_Int16    pitch_angle_min;    // pitch angle min in degrees
  23     AP_Int16    pitch_angle_max;    // pitch angle max in degrees
  24     AP_Int16    yaw_angle_min;      // yaw angle min in degrees
  25     AP_Int16    yaw_angle_max;      // yaw angle max in degrees
  26
  27     AP_Vector3f retract_angles;     // retracted position in degrees. vector.x = roll vector.y = pitch, vector.z=yaw
  28     AP_Vector3f neutral_angles;     // neutral position in degrees.  vector.x = roll vector.y = pitch, vector.z=yaw
  29
  30     AP_Float    roll_stb_lead;      // roll lead control gain (only used by servo backend)
  31     AP_Float    pitch_stb_lead;     // pitch lead control gain (only used by servo backend)
  32     AP_Int8     sysid_default;      // target sysid for mount to follow
  33     AP_Int32    dev_id;             // Device id taking into account bus
  34     AP_Int8     options;            // mount options bitmask
  35 };