AP_Mount: integrate topotek gimbal driver

Co-authored-by: Randy Mackay <[email protected]>
ArduPilot · Jul 4, 2024 · 78415cf · 78415cf
1 parent ad9652c
commit 78415cf
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Showing 4 changed files with 19 additions and 1 deletion.
diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
@@ -15,6 +15,7 @@
 #include "AP_Mount_Scripting.h"
 #include "AP_Mount_Xacti.h"
 #include "AP_Mount_Viewpro.h"
+#include "AP_Mount_Topotek.h"
 #include <stdio.h>
 #include <AP_Math/location.h>
 #include <SRV_Channel/SRV_Channel.h>
@@ -156,6 +157,14 @@ void AP_Mount::init()
             serial_instance++;
             break;
 #endif // HAL_MOUNT_VIEWPRO_ENABLED
+
+#if HAL_MOUNT_TOPOTEK_ENABLED
+        // check for Topotek gimbal
+        case Type::Topotek:
+            _backends[instance] = NEW_NOTHROW AP_Mount_Topotek(*this, _params[instance], instance, serial_instance);
+            _num_instances++;
+            break;
+#endif // HAL_MOUNT_TOPOTEK_ENABLED
         }
 
         // init new instance

diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
@@ -47,6 +47,7 @@ class AP_Mount_Siyi;
 class AP_Mount_Scripting;
 class AP_Mount_Xacti;
 class AP_Mount_Viewpro;
+class AP_Mount_Topotek;
 
 /*
   This is a workaround to allow the MAVLink backend access to the
@@ -67,6 +68,7 @@ class AP_Mount
     friend class AP_Mount_Scripting;
     friend class AP_Mount_Xacti;
     friend class AP_Mount_Viewpro;
+    friend class AP_Mount_Topotek;
 
 public:
     AP_Mount();
@@ -114,6 +116,9 @@ class AP_Mount
 #endif
 #if HAL_MOUNT_VIEWPRO_ENABLED
         Viewpro = 11,        /// Viewpro gimbal using a custom serial protocol
+#endif
+#if HAL_MOUNT_TOPOTEK_ENABLED
+        Topotek = 12,        /// Topotek gimbal using a custom serial protocol
 #endif
     };
 

diff --git a/libraries/AP_Mount/AP_Mount_Params.cpp b/libraries/AP_Mount/AP_Mount_Params.cpp
@@ -9,7 +9,7 @@ const AP_Param::GroupInfo AP_Mount_Params::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Mount Type
     // @Description: Mount Type
-    // @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:Gremsy, 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro
+    // @Values: 0:None, 1:Servo, 2:3DR Solo, 3:Alexmos Serial, 4:SToRM32 MAVLink, 5:SToRM32 Serial, 6:Gremsy, 7:BrushlessPWM, 8:Siyi, 9:Scripting, 10:Xacti, 11:Viewpro, 12:Topotek
     // @RebootRequired: True
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Mount_Params, type, 0, AP_PARAM_FLAG_ENABLE),

diff --git a/libraries/AP_Mount/AP_Mount_config.h b/libraries/AP_Mount/AP_Mount_config.h
@@ -54,6 +54,10 @@
 #define AP_MOUNT_POI_TO_LATLONALT_ENABLED HAL_MOUNT_ENABLED && AP_TERRAIN_AVAILABLE && BOARD_FLASH_SIZE > 1024
 #endif
 
+#ifndef HAL_MOUNT_TOPOTEK_ENABLED
+#define HAL_MOUNT_TOPOTEK_ENABLED AP_MOUNT_BACKEND_DEFAULT_ENABLED
+#endif
+
 // set camera source is supported on gimbals that may have more than one lens
 #ifndef HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
 #define HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SIYI_ENABLED || HAL_MOUNT_XACTI_ENABLED || HAL_MOUNT_VIEWPRO_ENABLED