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Fixed the problem that gimbal frame Angle is opposite to the attitude Angle

This commit is contained in:
AiYangSky 2023-06-19 15:46:00 +08:00
parent fa4d4b9937
commit de87183021
5 changed files with 6 additions and 377 deletions
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4
gimbal_ctrl/driver/src/G1/g1_gimbal_driver.cpp
View File

@ -108,8 +108,8 @@ void g1GimbalDriver::convert(void *buf)
state.rel.yaw = tempPos->HALL_yaw * G1_SCALE_FACTOR; state.rel.yaw = tempPos->HALL_yaw * G1_SCALE_FACTOR;
state.rel.roll = tempPos->HALL_roll * G1_SCALE_FACTOR; state.rel.roll = tempPos->HALL_roll * G1_SCALE_FACTOR;
state.rel.pitch = tempPos->HALL_pitch * G1_SCALE_FACTOR; state.rel.pitch = tempPos->HALL_pitch * G1_SCALE_FACTOR;
updateGimbalStateCallback(state.abs.roll, state.abs.pitch, state.abs.yaw, updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
state.rel.roll, state.rel.pitch, state.rel.yaw, state.abs.roll, state.abs.pitch, state.abs.yaw,
state.fov.x, state.fov.y); state.fov.x, state.fov.y);
mState.unlock(); mState.unlock();
break; break;

4
gimbal_ctrl/driver/src/G2/g2_gimbal_driver.cpp
View File

@ -108,8 +108,8 @@ void g2GimbalDriver::convert(void *buf)
{ {
case G2::IAP_COMMAND_BLOCK_END: case G2::IAP_COMMAND_BLOCK_END:
mState.lock(); mState.lock();
updateGimbalStateCallback(state.abs.roll, state.abs.pitch, state.abs.yaw, updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
state.rel.roll, state.rel.pitch, state.rel.yaw, state.abs.roll, state.abs.pitch, state.abs.yaw,
state.fov.x, state.fov.y); state.fov.x, state.fov.y);
mState.unlock(); mState.unlock();
break; break;

14
gimbal_ctrl/driver/src/G2/g2_gimbal_driver.h
View File

@ -60,20 +60,6 @@ public:
uint32_t takePic(void); uint32_t takePic(void);
uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState); uint32_t setVideo(const amovGimbal::AMOV_GIMBAL_VIDEO_T newState);
#ifdef AMOV_HOST
// iap funtion (内部源码模式提供功能 lib模式下不可见)
bool iapGetSoftInfo(std::string &info);
bool iapGetHardInfo(std::string &info);
bool iapJump(G2::GIMBAL_IAP_STATE_T &state);
bool iapFlashErase(G2::GIMBAL_IAP_STATE_T &state);
bool iapSendBlockInfo(uint32_t &startAddr, uint32_t &crc32);
bool iapSendBlockData(uint8_t offset, uint8_t *data);
bool iapFlashWrite(uint32_t &crc32, G2::GIMBAL_IAP_STATE_T &state);
// 判断是否需要跳转
bool iapJumpCheck(std::string &info) { return true; }
#endif
static amovGimbal::IamovGimbalBase *creat(amovGimbal::IOStreamBase *_IO) static amovGimbal::IamovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
{ {
return new g2GimbalDriver(_IO); return new g2GimbalDriver(_IO);

357
gimbal_ctrl/driver/src/G2/g2_gimbal_iap_funtion.cpp
View File

@ -1,357 +0,0 @@
/*
* @Description:
* @Author: L LC @amov
* @Date: 2023-03-02 11:16:52
* @LastEditors: L LC @amov
* @LastEditTime: 2023-04-18 10:13:08
* @FilePath: /gimbal-sdk-multi-platform/src/G2/g2_gimbal_iap_funtion.cpp
*/
#ifdef AMOV_HOST
#include "g2_gimbal_driver.h"
#include "g2_gimbal_crc.h"
#include "string.h"
#include <chrono>
#define MAX_WAIT_TIME_MS 2000
/**
* It gets the software information from the gimbal.
*
* @param info the string to store the information
*
* @return a boolean value.
*/
bool g2GimbalDriver::iapGetSoftInfo(std::string &info)
{
uint8_t temp = 0;
bool ret = false;
G2::GIMBAL_FRAME_T ack;
pack(G2::IAP_COMMAND_SOFT_INFO, &temp, 1);
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_SOFT_INFO &&
ack.target == self &&
ack.source == remote)
{
info = (char *)ack.data;
std::cout << info << std::endl;
ret = true;
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
/**
* It gets the hardware information of the gimbal.
*
* @param info the string to store the hardware information
*
* @return a boolean value.
*/
bool g2GimbalDriver::iapGetHardInfo(std::string &info)
{
uint8_t temp = 0;
bool ret = false;
G2::GIMBAL_FRAME_T ack;
pack(G2::IAP_COMMAND_HARDWARE_INFO, &temp, 1);
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_HARDWARE_INFO &&
ack.target == self &&
ack.source == remote)
{
info = (char *)ack.data;
std::cout << info << std::endl;
ret = true;
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
/**
* It sends a command to the gimbal to jump to the bootloader, and then waits for a response from the
* bootloader
*
* @param state the state of the gimbal, 0: normal, 1: iap
*
* @return The return value is a boolean.
*/
bool g2GimbalDriver::iapJump(G2::GIMBAL_IAP_STATE_T &state)
{
uint8_t temp = 0;
bool ret = true;
G2::GIMBAL_FRAME_T ack;
pack(G2::IAP_COMMAND_JUMP, &temp, 1);
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
// It fails if the specified message is received.
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_JUMP &&
ack.target == self &&
ack.source == remote)
{
state = (G2::GIMBAL_IAP_STATE_T)ack.data[1];
ret = false;
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
/**
* The function sends a command to the gimbal to erase the flash memory
*
* @param state The state of the IAP process.
*
* @return The return value is a boolean.
*/
bool g2GimbalDriver::iapFlashErase(G2::GIMBAL_IAP_STATE_T &state)
{
uint8_t temp = 0;
bool ret = false;
G2::GIMBAL_FRAME_T ack;
pack(G2::IAP_COMMAND_FLASH_ERASE, &temp, 1);
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_FLASH_ERASE &&
ack.target == self &&
ack.source == remote)
{
state = (G2::GIMBAL_IAP_STATE_T)ack.data[1];
ret = true;
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
/**
* It sends a block of data to the gimbal, and waits for an acknowledgement
*
* @param startAddr the start address of the block to be sent
* @param crc32 The CRC32 of the data to be sent.
*
* @return a boolean value.
*/
bool g2GimbalDriver::iapSendBlockInfo(uint32_t &startAddr, uint32_t &crc32)
{
union
{
uint32_t f32;
uint8_t f8[4];
} temp;
uint8_t buf[8] = {0, 0, 0, 0, 0, 0, 0, 0};
bool ret = false;
G2::GIMBAL_FRAME_T ack;
temp.f32 = startAddr;
memcpy(buf, temp.f8, sizeof(uint32_t));
temp.f32 = crc32;
memcpy(buf, temp.f8, sizeof(uint32_t));
pack(G2::IAP_COMMAND_BOLCK_INFO, buf, 8);
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_BOLCK_INFO &&
ack.target == self &&
ack.source == remote)
{
ret = true;
for (uint8_t i = 0; i < 8; i++)
{
if (buf[i] != ack.data[i])
{
ret = false;
}
}
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
/**
* It sends a block of data to the gimbal, and waits for an acknowledgement
*
* @param offset the offset of the data block in the file
* @param data pointer to the data to be sent
*
* @return The return value is a boolean.
*/
bool g2GimbalDriver::iapSendBlockData(uint8_t offset, uint8_t *data)
{
bool ret = false;
G2::GIMBAL_FRAME_T ack;
pack(G2::IAP_COMMAND_BLOCK_START + offset, data, 64);
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_BLOCK_START + offset &&
ack.target == self &&
ack.source == remote)
{
ret = true;
for (uint8_t i = 0; i < 64; i++)
{
if (data[i] != ack.data[i])
{
ret = false;
}
}
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
/**
* The function sends a block of data to the gimbal, and waits for an acknowledgement
*
* @param crc32 The CRC32 of the data block
* @param state The state of the IAP process.
*
* @return The return value is a boolean.
*/
bool g2GimbalDriver::iapFlashWrite(uint32_t &crc32, G2::GIMBAL_IAP_STATE_T &state)
{
bool ret = false;
G2::GIMBAL_FRAME_T ack;
union
{
uint32_t f32;
uint8_t f8[4];
} temp;
temp.f32 = crc32;
pack(G2::IAP_COMMAND_BLOCK_WRITE, temp.f8, sizeof(uint32_t));
std::chrono::milliseconds startMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
while (1)
{
if (getRxPack(&ack))
{
if (ack.command == G2::IAP_COMMAND_BLOCK_WRITE &&
ack.target == self &&
ack.source == remote)
{
state = (G2::GIMBAL_IAP_STATE_T)ack.data[4];
ret = true;
for (uint8_t i = 0; i < 4; i++)
{
if (temp.f8[i] != ack.data[i])
{
ret = false;
}
}
break;
}
}
std::chrono::milliseconds nowMs = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch());
if ((nowMs - startMs) > std::chrono::milliseconds(MAX_WAIT_TIME_MS))
{
break;
}
}
return ret;
}
#endif

4
gimbal_ctrl/driver/src/Q10f/Q10f_gimbal_driver.cpp
View File

@ -119,8 +119,8 @@ void Q10fGimbalDriver::convert(void *buf)
state.rel.yaw = tempPos->rollStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED; state.rel.yaw = tempPos->rollStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
state.rel.roll = tempPos->rollStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED; state.rel.roll = tempPos->rollStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
state.rel.pitch = tempPos->pitchStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED; state.rel.pitch = tempPos->pitchStatorRotorAngle * Q10F_SCALE_FACTOR_SPEED;
updateGimbalStateCallback(state.abs.roll, state.abs.pitch, state.abs.yaw, updateGimbalStateCallback(state.rel.roll, state.rel.pitch, state.rel.yaw,
state.rel.roll, state.rel.pitch, state.rel.yaw, state.abs.roll, state.abs.pitch, state.abs.yaw,
state.fov.x, state.fov.y); state.fov.x, state.fov.y);
mState.unlock(); mState.unlock();