#include "modules/cam_control/gimbal_caddx_gm3.h"
#include "modules/cam_control/cam_gimbal.h"
#include "modules/actuators/actuators.h"
#include "generated/airframe.h"
#include "modules/datalink/datalink.h"
#include "pprzlink/dl_protocol.h"

Include dependency graph for gimbal_caddx_gm3.c:

Macros
#define	GIMBAL_CADDX_PAN_MAX RadOfDeg(160.f)

#define	GIMBAL_CADDX_TILT_MAX RadOfDeg(120.f)

#define	GIMBAL_CADDX_ROLL_MAX RadOfDeg(60.f)

#define	GIMBAL_CADDX_TILT_OFFSET RadOfDeg(15.f)

Functions
static void	gimbal_caddx_compute_angles (struct FloatVect3 dir, float pan, float tilt)
	Compute pan and tilt angle for the 3-axis gimbal CaddX GM3.

void	gimbal_caddx_gm3_init (void)

void	gimbal_caddx_gm3_periodic (void)

Variables
float	gimbal_caddx_gm3_roll

Detailed Description

Author: Julia Cabarbaye julia.nosp@m..cab.nosp@m.arbay.nosp@m.e1@g.nosp@m.mail..nosp@m.com caddx gm3 gimbal control sbus

Definition in file gimbal_caddx_gm3.c.

Macro Definition Documentation

◆ GIMBAL_CADDX_PAN_MAX

#define GIMBAL_CADDX_PAN_MAX RadOfDeg(160.f)

Definition at line 35 of file gimbal_caddx_gm3.c.

◆ GIMBAL_CADDX_ROLL_MAX

#define GIMBAL_CADDX_ROLL_MAX RadOfDeg(60.f)

Definition at line 37 of file gimbal_caddx_gm3.c.

◆ GIMBAL_CADDX_TILT_MAX

#define GIMBAL_CADDX_TILT_MAX RadOfDeg(120.f)

Definition at line 36 of file gimbal_caddx_gm3.c.

◆ GIMBAL_CADDX_TILT_OFFSET

#define GIMBAL_CADDX_TILT_OFFSET RadOfDeg(15.f)

Definition at line 38 of file gimbal_caddx_gm3.c.

Function Documentation

◆ gimbal_caddx_compute_angles()

static void gimbal_caddx_compute_angles	(	struct FloatVect3	dir,
		float *	pan,
		float *	tilt
	)

static

Compute pan and tilt angle for the 3-axis gimbal CaddX GM3.

The rotations from gimbal to camera frame are: pan (z), roll (x), tilt (y) In addition, an extra mechanical offset exists along the tilt axis between the pan and roll rotations. Considering the wide angle camera and the pain to inverse the resulting equation, this angle is neglected. Therefore, we have: -> sin(tilt) = - uz / cos(roll) -> tan(pan) = (uy / ux) - sin(roll)*tan(tilt)

Definition at line 53 of file gimbal_caddx_gm3.c.

References dir, foo, gimbal_caddx_gm3_roll, and GIMBAL_CADDX_ROLL_MAX.

Referenced by gimbal_caddx_gm3_init().

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