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Revise longitude and latitude units to unify to degrees and meters

This commit is contained in:
AiYangSky 2023-12-04 10:00:32 +08:00
parent 02bca32ea4
commit ad54f95313
1 changed files with 26 additions and 26 deletions
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52
gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
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@ -3,7 +3,7 @@
* @Author: L LC @amov * @Author: L LC @amov
* @Date: 2023-11-02 17:50:26 * @Date: 2023-11-02 17:50:26
* @LastEditors: L LC @amov * @LastEditors: L LC @amov
* @LastEditTime: 2023-11-28 11:46:28 * @LastEditTime: 2023-12-04 09:56:21
* @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp * @FilePath: /SpireCV/gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
*/ */
#include <string.h> #include <string.h>
@ -11,10 +11,10 @@
/** /**
* The function sets the target position of a gimbal based on the input roll, pitch, and yaw values. * The function sets the target position of a gimbal based on the input roll, pitch, and yaw values.
* *
* @param pos The parameter "pos" is of type "amovGimbal::AMOV_GIMBAL_POS_T". It is a structure that * @param pos The parameter "pos" is of type "amovGimbal::AMOV_GIMBAL_POS_T". It is a structure that
* contains the roll, pitch, and yaw values of the gimbal position. * contains the roll, pitch, and yaw values of the gimbal position.
* *
* @return a packed value of type uint32_t. * @return a packed value of type uint32_t.
*/ */
uint32_t GX40GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos) uint32_t GX40GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &pos)
@ -29,10 +29,10 @@ uint32_t GX40GimbalDriver::setGimabalPos(const amovGimbal::AMOV_GIMBAL_POS_T &po
/** /**
* The function sets the gimbal speed based on the provided roll, pitch, and yaw values. * The function sets the gimbal speed based on the provided roll, pitch, and yaw values.
* *
* @param speed The parameter "speed" is of type "amovGimbal::AMOV_GIMBAL_POS_T". It is a structure * @param speed The parameter "speed" is of type "amovGimbal::AMOV_GIMBAL_POS_T". It is a structure
* that contains the roll, pitch, and yaw values of the gimbal speed. * that contains the roll, pitch, and yaw values of the gimbal speed.
* *
* @return the result of the pack() function, which is of type uint32_t. * @return the result of the pack() function, which is of type uint32_t.
*/ */
uint32_t GX40GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed) uint32_t GX40GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &speed)
@ -49,7 +49,7 @@ uint32_t GX40GimbalDriver::setGimabalSpeed(const amovGimbal::AMOV_GIMBAL_POS_T &
/** /**
* The function sets the gimbal's home position to (0, 0, 0) and sends a command to the gimbal to go to * The function sets the gimbal's home position to (0, 0, 0) and sends a command to the gimbal to go to
* the home position. * the home position.
* *
* @return the result of the pack() function call with the arguments GX40::GIMBAL_CMD_HOME, nullptr, and * @return the result of the pack() function call with the arguments GX40::GIMBAL_CMD_HOME, nullptr, and
* 0. * 0.
*/ */
@ -68,7 +68,7 @@ uint32_t GX40GimbalDriver::setGimabalHome(void)
/** /**
* The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and * The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
* returns the packed command. * returns the packed command.
* *
* @return a uint32_t value. * @return a uint32_t value.
*/ */
uint32_t GX40GimbalDriver::takePic(void) uint32_t GX40GimbalDriver::takePic(void)
@ -80,10 +80,10 @@ uint32_t GX40GimbalDriver::takePic(void)
/** /**
* The function `setVideo` toggles the video state of a gimbal driver and returns a packed command. * The function `setVideo` toggles the video state of a gimbal driver and returns a packed command.
* *
* @param newState The parameter `newState` is of type `amovGimbal::AMOV_GIMBAL_VIDEO_T`, which is an * @param newState The parameter `newState` is of type `amovGimbal::AMOV_GIMBAL_VIDEO_T`, which is an
* enumeration representing the state of the video in the gimbal. It can have two possible values: * enumeration representing the state of the video in the gimbal. It can have two possible values:
* *
* @return the result of the `pack` function, which is a `uint32_t` value. * @return the result of the `pack` function, which is a `uint32_t` value.
*/ */
uint32_t GX40GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState) uint32_t GX40GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState)
@ -107,7 +107,7 @@ uint32_t GX40GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newSta
/** /**
* The function `attitudeCorrection` updates the state of a gimbal driver with position, velocity, and * The function `attitudeCorrection` updates the state of a gimbal driver with position, velocity, and
* acceleration data. * acceleration data.
* *
* @param pos The "pos" parameter is of type "amovGimbal::AMOV_GIMBAL_POS_T" and represents the current * @param pos The "pos" parameter is of type "amovGimbal::AMOV_GIMBAL_POS_T" and represents the current
* position of the gimbal. It likely contains information such as the pitch, yaw, and roll angles of * position of the gimbal. It likely contains information such as the pitch, yaw, and roll angles of
* the gimbal. * the gimbal.
@ -120,15 +120,15 @@ uint32_t GX40GimbalDriver::setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newSta
* attitudeCorrection function. It can be used to provide any extra information or context that may be * attitudeCorrection function. It can be used to provide any extra information or context that may be
* needed for the attitude correction calculation. The specific type and structure of the extenData is * needed for the attitude correction calculation. The specific type and structure of the extenData is
* not provided in the code snippet, * not provided in the code snippet,
* *
* @return the size of the data being passed as arguments. The size is calculated by adding the sizes * @return the size of the data being passed as arguments. The size is calculated by adding the sizes
* of the three types: sizeof(amovGimbal::AMOV_GIMBAL_POS_T), * of the three types: sizeof(amovGimbal::AMOV_GIMBAL_POS_T),
* sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T), and sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T). * sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T), and sizeof(amovGimbal::AMOV_GIMBAL_VELOCITY_T).
*/ */
uint32_t GX40GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos, uint32_t GX40GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_T &pos,
const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd, const amovGimbal::AMOV_GIMBAL_VELOCITY_T &seppd,
const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc, const amovGimbal::AMOV_GIMBAL_VELOCITY_T &acc,
void *extenData) void *extenData)
{ {
carrierStateMutex.lock(); carrierStateMutex.lock();
carrierPos = pos; carrierPos = pos;
@ -142,11 +142,11 @@ uint32_t GX40GimbalDriver::attitudeCorrection(const amovGimbal::AMOV_GIMBAL_POS_
/** /**
* The function `extensionFuntions` takes a command as input, converts it to a specific format, and * The function `extensionFuntions` takes a command as input, converts it to a specific format, and
* returns a 32-bit unsigned integer. * returns a 32-bit unsigned integer.
* *
* @param cmd The parameter "cmd" is a void pointer, which means it can point to any type of data. In * @param cmd The parameter "cmd" is a void pointer, which means it can point to any type of data. In
* this case, it is being cast to a uint8_t pointer, which means it is expected to point to an array of * this case, it is being cast to a uint8_t pointer, which means it is expected to point to an array of
* uint8_t (8-bit unsigned integers). * uint8_t (8-bit unsigned integers).
* *
* @return a value of type uint32_t. * @return a value of type uint32_t.
*/ */
uint32_t GX40GimbalDriver::extensionFuntions(void *cmd) uint32_t GX40GimbalDriver::extensionFuntions(void *cmd)
@ -158,13 +158,13 @@ uint32_t GX40GimbalDriver::extensionFuntions(void *cmd)
/** /**
* The function `setGimbalZoom` in the `GX40GimbalDriver` class sets the zoom level of a gimbal based on * The function `setGimbalZoom` in the `GX40GimbalDriver` class sets the zoom level of a gimbal based on
* the specified zoom type and target rate. * the specified zoom type and target rate.
* *
* @param zoom The "zoom" parameter is of type amovGimbal::AMOV_GIMBAL_ZOOM_T, which is an enumeration * @param zoom The "zoom" parameter is of type amovGimbal::AMOV_GIMBAL_ZOOM_T, which is an enumeration
* type. It represents the zoom action to be performed on the gimbal. The possible values for this * type. It represents the zoom action to be performed on the gimbal. The possible values for this
* parameter are: * parameter are:
* @param targetRate The targetRate parameter is a float value representing the desired zoom rate for * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
* the gimbal. It is used to control the zoom functionality of the gimbal. * the gimbal. It is used to control the zoom functionality of the gimbal.
* *
* @return a value of type uint32_t. * @return a value of type uint32_t.
*/ */
uint32_t GX40GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate) uint32_t GX40GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
@ -203,13 +203,13 @@ uint32_t GX40GimbalDriver::setGimbalZoom(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, fl
/** /**
* The function "setGimbalFocus" sets the focus of a gimbal by specifying the zoom level and target * The function "setGimbalFocus" sets the focus of a gimbal by specifying the zoom level and target
* rate. * rate.
* *
* @param zoom The zoom parameter is of type amovGimbal::AMOV_GIMBAL_ZOOM_T, which is an enumeration * @param zoom The zoom parameter is of type amovGimbal::AMOV_GIMBAL_ZOOM_T, which is an enumeration
* type representing different zoom levels for the gimbal. It is used to specify the desired zoom level * type representing different zoom levels for the gimbal. It is used to specify the desired zoom level
* for the gimbal focus. * for the gimbal focus.
* @param targetRate The targetRate parameter is a float value representing the desired zoom rate for * @param targetRate The targetRate parameter is a float value representing the desired zoom rate for
* the gimbal. * the gimbal.
* *
* @return the result of the pack() function, which is of type uint32_t. * @return the result of the pack() function, which is of type uint32_t.
*/ */
uint32_t GX40GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate) uint32_t GX40GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
@ -221,7 +221,7 @@ uint32_t GX40GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, f
/** /**
* The function sets the GNSS information in the carrierGNSS struct and returns the size of the struct. * The function sets the GNSS information in the carrierGNSS struct and returns the size of the struct.
* *
* @param lng The "lng" parameter represents the longitude value of the GNSS (Global Navigation * @param lng The "lng" parameter represents the longitude value of the GNSS (Global Navigation
* Satellite System) information. * Satellite System) information.
* @param lat The "lat" parameter represents the latitude value of the GNSS (Global Navigation * @param lat The "lat" parameter represents the latitude value of the GNSS (Global Navigation
@ -231,7 +231,7 @@ uint32_t GX40GimbalDriver::setGimbalFocus(amovGimbal::AMOV_GIMBAL_ZOOM_T zoom, f
* System) information. It is of type uint32_t, which means it is an unsigned 32-bit integer. The * System) information. It is of type uint32_t, which means it is an unsigned 32-bit integer. The
* specific values and their meanings for the "nState" parameter are not provided in the code snippet * specific values and their meanings for the "nState" parameter are not provided in the code snippet
* @param relAlt Relative altitude of the carrier (in meters) * @param relAlt Relative altitude of the carrier (in meters)
* *
* @return the size of the structure GX40::GIMBAL_SECONDARY_MASTER_FRAME_T. * @return the size of the structure GX40::GIMBAL_SECONDARY_MASTER_FRAME_T.
*/ */
uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt) uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt)
@ -239,11 +239,11 @@ uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t
carrierStateMutex.lock(); carrierStateMutex.lock();
carrierGNSS.head = 0X01; carrierGNSS.head = 0X01;
carrierGNSS.lng = lng; carrierGNSS.lng = lng / 1E-7;
carrierGNSS.lat = lat; carrierGNSS.lat = lat / 1E-7;
carrierGNSS.alt = alt; carrierGNSS.alt = alt / 1E-3;
carrierGNSS.relAlt = relAlt; carrierGNSS.relAlt = relAlt / 1E-3;
carrierGNSS.nState = nState; carrierGNSS.nState = nState;
carrierStateMutex.unlock(); carrierStateMutex.unlock();