Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

AP_Mount: added topotek gimbal driver. #26666

Closed
wants to merge 1 commit into from
Closed

AP_Mount: added topotek gimbal driver. #26666

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 11 additions & 0 deletions libraries/AP_Mount/AP_Mount.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -156,6 +157,16 @@ 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 AP_Mount_Topotek(*this, _params[instance], instance, serial_instance);
_num_instances++;
serial_instance++;
break;
#endif // HAL_MOUNT_TOPOTEK_ENABLED

}

// init new instance
Expand Down
6 changes: 6 additions & 0 deletions libraries/AP_Mount/AP_Mount.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,8 @@ 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
Expand All @@ -67,6 +69,7 @@ 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();
Expand Down Expand Up @@ -114,6 +117,9 @@ 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
};

Expand Down
Loading
Loading