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Integrated Tusuav's gimbal driver and backend #28491

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Integrated Tusuav's gimbal driver and backend #28491

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0eeb323
AP Mount: add Tusuav backend
Oct 28, 2024
d7ad2af
AP Mount: integrate Tusuav gimbal driver
Oct 28, 2024
7f85458
Tools: add build option for Tusuav mount
Oct 29, 2024
01a0b1b
AP_Mount: Update Tusuav backend
Oct 31, 2024
4c52c25
AP_Mount: Update Tusuav backend 11.15
Nov 15, 2024
1176164
AP_Mount: Update Tusuav backend 11.15
Nov 15, 2024
f6a311d
AP_Mount: Update Tusuav backend 11.15_2
Nov 15, 2024
d479b1f
AP_Mount: Update Tusuav backend 11.15_3
Nov 15, 2024
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1 change: 1 addition & 0 deletions Tools/scripts/build_options.py
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Original file line number Diff line number Diff line change
Expand Up @@ -194,6 +194,7 @@ def config_option(self):
Feature('Gimbal', 'STORM32_MAVLINK', 'HAL_MOUNT_STORM32MAVLINK_ENABLED', 'Enable SToRM32 MAVLink gimbal', 0, "MOUNT"),
Feature('Gimbal', 'STORM32_SERIAL', 'HAL_MOUNT_STORM32SERIAL_ENABLED', 'Enable SToRM32 Serial gimbal', 0, "MOUNT"),
Feature('Gimbal', 'TOPOTEK', 'HAL_MOUNT_TOPOTEK_ENABLED', 'Enable Topotek gimbal', 0, "MOUNT"),
Feature('Gimbal', 'TUSUAV', 'HAL_MOUNT_TUSUAV_ENABLED', 'Enable Tusuav gimbal', 0, "MOUNT"),
Feature('Gimbal', 'XACTI', 'HAL_MOUNT_XACTI_ENABLED', 'Enable Xacti gimbal', 0, "MOUNT,DroneCAN"),
Feature('Gimbal', 'VIEWPRO', 'HAL_MOUNT_VIEWPRO_ENABLED', 'Enable Viewpro gimbal', 0, "MOUNT"),

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11 changes: 11 additions & 0 deletions libraries/AP_Mount/AP_Mount.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include "AP_Mount_Xacti.h"
#include "AP_Mount_Viewpro.h"
#include "AP_Mount_Topotek.h"
#include "AP_Mount_Tusuav.h"
#include <stdio.h>
#include <AP_Math/location.h>
#include <SRV_Channel/SRV_Channel.h>
Expand Down Expand Up @@ -168,6 +169,16 @@ void AP_Mount::init()
serial_instance++;
break;
#endif // HAL_MOUNT_TOPOTEK_ENABLED

#if HAL_MOUNT_TUSUAV_ENABLED
// check for TUSUAV gimbal
case Type::Tusuav:
_backends[instance] = NEW_NOTHROW AP_Mount_Tusuav(*this, _params[instance], instance, serial_instance);
_num_instances++;
serial_instance++;
break;
#endif // HAL_MOUNT_TUSUAV_ENABLED

}

// init new instance
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4 changes: 4 additions & 0 deletions libraries/AP_Mount/AP_Mount.h
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Expand Up @@ -69,6 +69,7 @@ class AP_Mount
friend class AP_Mount_Xacti;
friend class AP_Mount_Viewpro;
friend class AP_Mount_Topotek;
friend class AP_Mount_Tusuav;

public:
AP_Mount();
Expand Down Expand Up @@ -119,6 +120,9 @@ class AP_Mount
#endif
#if HAL_MOUNT_TOPOTEK_ENABLED
Topotek = 12, /// Topotek gimbal using a custom serial protocol
#endif
#if HAL_MOUNT_TUSUAV_ENABLED
Tusuav = 13, /// Tusuav gimbal using a custom serial protocol
#endif
};

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