Amilcar Lucas
13 years ago
11 changed files with 302 additions and 3 deletions
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_Camera.h> |
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#include <AP_Relay.h> |
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#include <../RC_Channel/RC_Channel_aux.h> |
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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extern long wp_distance; |
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extern AP_Relay relay; |
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// ------------------------------
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#define CAM_DEBUG DISABLED |
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const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = { |
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AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, trigger_type), |
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AP_GROUPEND |
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}; |
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void |
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AP_Camera::servo_pic() // Servo operated camera
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{ |
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if (g_rc_function[RC_Channel_aux::k_cam_trigger]) |
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{ |
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g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max; |
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keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
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} |
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} |
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void |
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AP_Camera::relay_pic() // basic relay activation
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{ |
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relay.on(); |
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keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
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} |
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void |
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AP_Camera::throttle_pic() // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
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{ |
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// TODO find a way to do this without using the global parameter g
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// g.channel_throttle.radio_out = g.throttle_min;
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if (thr_pic == 10){ |
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servo_pic(); // triggering method
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thr_pic = 0; |
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// g.channel_throttle.radio_out = g.throttle_cruise;
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} |
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thr_pic++; |
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} |
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void |
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AP_Camera::distance_pic() // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
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{ |
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// TODO find a way to do this without using the global parameter g
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// g.channel_throttle.radio_out = g.throttle_min;
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if (wp_distance < 3){ |
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servo_pic(); // triggering method
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// g.channel_throttle.radio_out = g.throttle_cruise;
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} |
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} |
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void |
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AP_Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output.
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{ |
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// TODO: Assign pin spare pin for output
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digitalWrite(camtrig, HIGH); |
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keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
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} |
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// single entry point to take pictures
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void |
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AP_Camera::trigger_pic() |
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{ |
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switch (trigger_type) |
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{ |
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case 0: |
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servo_pic(); // Servo operated camera
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break; |
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case 1: |
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relay_pic(); // basic relay activation
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break; |
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case 2: |
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throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
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break; |
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case 3: |
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distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
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break; |
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case 4: |
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NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
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break; |
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} |
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} |
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// de-activate the trigger after some delay, but without using a delay() function
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void |
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AP_Camera::trigger_pic_cleanup() |
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{ |
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if (keep_cam_trigg_active_cycles) |
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{ |
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keep_cam_trigg_active_cycles --; |
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} |
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else |
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{ |
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switch (trigger_type) |
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{ |
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case 0: |
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case 2: |
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case 3: |
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G_RC_AUX(k_cam_trigger)->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min; |
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break; |
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case 1: |
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relay.off(); |
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break; |
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case 4: |
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digitalWrite(camtrig, LOW); |
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break; |
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} |
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} |
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} |
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void |
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AP_Camera::configure_msg(mavlink_message_t* msg) |
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{ |
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__mavlink_digicam_configure_t packet; |
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mavlink_msg_digicam_configure_decode(msg, &packet); |
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if (mavlink_check_target(packet.target_system, packet.target_component)) { |
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// not for us
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return; |
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} |
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// TODO do something with these values
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/*
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packet.aperture |
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packet.command_id |
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packet.engine_cut_off |
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packet.exposure_type |
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packet.extra_param |
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packet.extra_value |
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packet.iso |
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packet.mode |
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packet.shutter_speed |
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*/ |
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// echo the message to the ArduCam OSD camera control board
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// for more info see: http://code.google.com/p/arducam-osd/
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// TODO is it connected to MAVLINK_COMM_3 ?
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mavlink_msg_digicam_configure_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.mode, packet.shutter_speed, packet.aperture, packet.iso, packet.exposure_type, packet.command_id, packet.engine_cut_off, packet.extra_param, packet.extra_value); |
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} |
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void |
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AP_Camera::control_msg(mavlink_message_t* msg) |
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{ |
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__mavlink_digicam_control_t packet; |
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mavlink_msg_digicam_control_decode(msg, &packet); |
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if (mavlink_check_target(packet.target_system, packet.target_component)) { |
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// not for us
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return; |
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} |
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// TODO do something with these values
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/*
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packet.command_id |
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packet.extra_param |
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packet.extra_value |
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packet.focus_lock |
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packet.session |
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packet.shot |
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packet.zoom_pos |
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packet.zoom_step |
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*/ |
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if (packet.shot) |
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{ |
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trigger_pic(); |
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} |
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// echo the message to the ArduCam OSD camera control board
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// for more info see: http://code.google.com/p/arducam-osd/
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// TODO is it connected to MAVLINK_COMM_3 ?
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mavlink_msg_digicam_control_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.session, packet.zoom_pos, packet.zoom_step, packet.focus_lock, packet.shot, packet.command_id, packet.extra_param, packet.extra_value); |
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} |
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@ -0,0 +1,58 @@
@@ -0,0 +1,58 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AP_Camera.h
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/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
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#ifndef AP_CAMERA_H |
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#define AP_CAMERA_H |
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#include <AP_Common.h> |
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#include <GCS_MAVLink.h> |
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/// @class Camera
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/// @brief Object managing a Photo or video camera
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class AP_Camera{ |
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public: |
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/// Constructor
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///
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AP_Camera() : |
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trigger_type (0), |
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picture_time (0), // waypoint trigger variable
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thr_pic (0), // timer variable for throttle_pic
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camtrig (83), // PK6 chosen as it not near anything so safer for soldering
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keep_cam_trigg_active_cycles (0), |
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wp_distance_min (10) |
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{} |
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// single entry point to take pictures
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void trigger_pic(); |
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// de-activate the trigger after some delay, but without using a delay() function
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void trigger_pic_cleanup(); |
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// MAVLink methods
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void configure_msg(mavlink_message_t* msg); |
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void control_msg(mavlink_message_t* msg); |
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int picture_time; // waypoint trigger variable
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long wp_distance_min; // take picture if distance to WP is smaller than this
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static const struct AP_Param::GroupInfo var_info[]; |
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private: |
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uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
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int thr_pic; // timer variable for throttle_pic
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int camtrig; // PK6 chosen as it not near anything so safer for soldering
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AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
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void servo_pic(); // Servo operated camera
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void relay_pic(); // basic relay activation
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void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
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void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
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void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
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}; |
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#endif /* AP_CAMERA_H */ |
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