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AP_Mount: privatise various fields and methods #28755

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merged 2 commits into from
Dec 16, 2024
+20 −17
Merged

AP_Mount: privatise various fields and methods #28755

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AP_Mount: privatise various fields and methods
peterbarker Nov 27, 2024
93c0135
AP_Mount: rearrange methods and variables per PR review
peterbarker Dec 16, 2024
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37 changes: 20 additions & 17 deletions libraries/AP_Mount/AP_Mount_Backend.h
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Original file line number Diff line number Diff line change
Expand Up @@ -271,26 +271,10 @@ class AP_Mount_Backend
// returns true if mavlink heartbeat should be suppressed for this gimbal (only used by Solo gimbal)
virtual bool suppress_heartbeat() const { return false; }

#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
// calculate the Location that the gimbal is pointing at
void calculate_poi();
#endif

// change to RC_TARGETTING mode if rc inputs have changed by more than the dead zone
// should be called on every update
void set_rctargeting_on_rcinput_change();

// get pilot input (in the range -1 to +1) received through RC
void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;

// get angle or rate targets from pilot RC
// target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s
void get_rc_target(MountTargetType& target_type, MountTarget& rpy) const;

// get angle targets (in radians) to a Location
// returns true on success, false on failure
bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED;

// get angle targets (in radians) to ROI location
// returns true on success, false on failure
bool get_angle_target_to_roi(MountTarget& angle_rad) const WARN_IF_UNUSED;
Expand Down Expand Up @@ -319,7 +303,6 @@ class AP_Mount_Backend
uint8_t _instance; // this instance's number

MAV_MOUNT_MODE _mode; // current mode (see MAV_MOUNT_MODE enum)
bool _yaw_lock; // yaw_lock used in RC_TARGETING mode. True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame

// structure for MAVLink Targeting angle and rate targets
struct {
Expand All @@ -328,6 +311,26 @@ class AP_Mount_Backend
MountTarget rate_rads; // rate target in rad/s
} mnt_target;

private:

// get pilot input (in the range -1 to +1) received through RC
void get_rc_input(float& roll_in, float& pitch_in, float& yaw_in) const;

// get angle or rate targets from pilot RC
// target_type will be either ANGLE or RATE, rpy will be the target angle in deg or rate in deg/s
void get_rc_target(MountTargetType& target_type, MountTarget& rpy) const;

// get angle targets (in radians) to a Location
// returns true on success, false on failure
bool get_angle_target_to_location(const Location &loc, MountTarget& angle_rad) const WARN_IF_UNUSED;

#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
// calculate the Location that the gimbal is pointing at
void calculate_poi();
#endif

bool _yaw_lock; // yaw_lock used in RC_TARGETING mode. True if the gimbal's yaw target is maintained in earth-frame, if false (aka "follow") it is maintained in body-frame

#if AP_MOUNT_POI_TO_LATLONALT_ENABLED
struct {
HAL_Semaphore sem; // semaphore protecting this structure
Expand Down
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