AP_Mount: add topotek gimbal driver.

ArduPilot · Mar 26, 2024 · 9bc9945 · 9bc9945
1 parent ac271cf
commit 9bc9945
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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>
@@ -150,6 +151,14 @@ void AP_Mount::init()
             _num_instances++;
             break;
 #endif // HAL_MOUNT_VIEWPRO_ENABLED
+
+#if HAL_MOUNT_TOPOTEK_ENABLED
+        // check for Topotek gimbal
+        case Type::Topotek:
+            _backends[instance] = new AP_Mount_Topotek(*this, _params[instance], 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
     };