You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
78 lines
3.1 KiB
78 lines
3.1 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
/// @file AP_Camera.h |
|
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants. |
|
|
|
#ifndef AP_CAMERA_H |
|
#define AP_CAMERA_H |
|
|
|
#include <AP_Param.h> |
|
#include <AP_Common.h> |
|
#include <GCS_MAVLink.h> |
|
#include <AP_Relay.h> |
|
#include <AP_GPS.h> |
|
#include <AP_AHRS.h> |
|
|
|
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0 |
|
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1 |
|
|
|
#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE AP_CAMERA_TRIGGER_TYPE_SERVO // default is to use servo to trigger camera |
|
|
|
#define AP_CAMERA_TRIGGER_DEFAULT_DURATION 10 // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second) |
|
|
|
#define AP_CAMERA_SERVO_ON_PWM 1300 // default PWM value to move servo to when shutter is activated |
|
#define AP_CAMERA_SERVO_OFF_PWM 1100 // default PWM value to move servo to when shutter is deactivated |
|
|
|
/// @class Camera |
|
/// @brief Object managing a Photo or video camera |
|
class AP_Camera { |
|
|
|
public: |
|
/// Constructor |
|
/// |
|
AP_Camera(AP_Relay *obj_relay) : |
|
_trigger_counter(0), // count of number of cycles shutter has been held open |
|
_image_index(0) |
|
{ |
|
AP_Param::setup_object_defaults(this, var_info); |
|
_apm_relay = obj_relay; |
|
} |
|
|
|
// single entry point to take pictures |
|
void trigger_pic(); |
|
|
|
// de-activate the trigger after some delay, but without using a delay() function |
|
// should be called at 50hz from main program |
|
void trigger_pic_cleanup(); |
|
|
|
// MAVLink methods |
|
void configure_msg(mavlink_message_t* msg); |
|
void control_msg(mavlink_message_t* msg); |
|
void send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS &ahrs, const Location ¤t_loc); |
|
|
|
// set camera trigger distance in a mission |
|
void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); } |
|
|
|
// Update location of vehicle and return true if a picture should be taken |
|
bool update_location(const struct Location &loc); |
|
|
|
static const struct AP_Param::GroupInfo var_info[]; |
|
|
|
private: |
|
AP_Int8 _trigger_type; // 0:Servo,1:Relay |
|
AP_Int8 _trigger_duration; // duration in 10ths of a second that the camera shutter is held open |
|
AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated |
|
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated |
|
uint8_t _trigger_counter; // count of number of cycles shutter has been held open |
|
AP_Relay *_apm_relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2 |
|
|
|
void servo_pic(); // Servo operated camera |
|
void relay_pic(); // basic relay activation |
|
|
|
AP_Float _trigg_dist; // distance between trigger points (meters) |
|
struct Location _last_location; |
|
uint16_t _image_index; // number of pictures taken since boot |
|
|
|
}; |
|
|
|
#endif /* AP_CAMERA_H */
|
|
|