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118 lines
5.5 KiB
118 lines
5.5 KiB
/* |
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www.ArduCopter.com - www.DIYDrones.com |
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Copyright (c) 2010. All rights reserved. |
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An Open Source Arduino based multicopter. |
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File : Events.pde |
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Version : v1.0, Aug 27, 2010 |
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Author(s): ArduCopter Team |
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Ted Carancho (aeroquad), Jose Julio, Jordi Muñoz, |
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Jani Hirvinen, Ken McEwans, Roberto Navoni, |
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Sandro Benigno, Chris Anderson |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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* ************************************************************** * |
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ChangeLog: |
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31-10-10 Moved camera stabilization from Functions to here, jp |
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* ************************************************************** * |
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TODO: |
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* ************************************************************** */ |
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/* **************************************************** */ |
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// Camera stabilization |
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// |
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// Stabilization for three different camera styles |
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// 1) Camera mounts that have tilt / pan |
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// 2) Camera mounts that have tilt / roll |
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// 3) Camera mounts that have tilt / roll / pan (future) |
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// |
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// Original code idea from Max Levine / DIY Drones |
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// You need to initialize proper camera mode by sending Serial command and then save it |
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// to EEPROM memory. Possible commands are K1, K2, K3, K4 |
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// Look more about different camera type on ArduCopter Wiki |
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#ifdef IsCAM |
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void camera_output() { |
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// cam_mode = 1; // for debugging |
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// Camera stabilization jump tables |
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// SW_DIP1 is a multplier, settings |
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switch ((SW_DIP1 * 4) + cam_mode + (BATTLOW * 10)) { |
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// Cases 1 & 4 are stabilization for + Mode flying setup |
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// Cases 5 & 8 are stabilization for x Mode flying setup |
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// Modes 3/4 + 7/8 needs still proper scaling on yaw movement |
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// Scaling needs physical test flying with FPV cameras on, 30-10-10 jp |
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case 1: |
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// Camera stabilization with Roll / Tilt mounts, NO transmitter input |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((CAM_CENT + (pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_ROLL_OUT, limitRange((CAM_CENT + (roll) * CAM_SMOOTHING_ROLL), 1000, 2000)); // Roll correction |
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break; |
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case 2: |
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// Camera stabilization with Roll / Tilt mounts, transmitter controls basic "zerolevel" |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((APM_RC.InputCh(CAM_TILT_CH) + (pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_ROLL_OUT, limitRange((CAM_CENT + (roll) * CAM_SMOOTHING_ROLL), 1000, 2000)); // Roll correction |
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break; |
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case 3: |
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// Camera stabilization with Yaw / Tilt mounts, NO transmitter input |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((CAM_CENT - (roll - pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_YAW_OUT, limitRange((CAM_CENT - (gyro_offset_yaw - AN[2])), 1000, 2000)); // Roll correction |
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break; |
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case 4: |
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// Camera stabilization with Yaw / Tilt mounts, transmitter controls basic "zerolevel" |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((APM_RC.InputCh(CAM_TILT_CH) + (pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_YAW_OUT, limitRange((CAM_CENT - (gyro_offset_yaw - AN[2])), 1000, 2000)); // Roll correction |
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break; |
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// x Mode flying setup |
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case 5: |
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// Camera stabilization with Roll / Tilt mounts, NO transmitter input |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((CAM_CENT - (roll - pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_ROLL_OUT, limitRange((CAM_CENT + (roll + pitch) * CAM_SMOOTHING), 1000, 2000)); // Roll correction |
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break; |
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case 6: |
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// Camera stabilization with Roll / Tilt mounts, transmitter controls basic "zerolevel" |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((APM_RC.InputCh(CAM_TILT_CH) + (roll - pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_ROLL_OUT, limitRange((CAM_CENT + (roll + pitch) * CAM_SMOOTHING), 1000, 2000)); // Roll correction |
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break; |
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case 7: |
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// Camera stabilization with Yaw / Tilt mounts, NO transmitter input |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((CAM_CENT - (roll - pitch) * CAM_SMOOTHING), 1000, 2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_YAW_OUT, limitRange((CAM_CENT - (gyro_offset_yaw - AN[2])), 1000, 2000)); // Roll correction |
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break; |
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case 8: |
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// Camera stabilization with Yaw / Tilt mounts, transmitter controls basic "zerolevel" |
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APM_RC.OutputCh(CAM_TILT_OUT, limitRange((APM_RC.InputCh(CAM_TILT_CH) - (roll - pitch) * CAM_SMOOTHING),1000,2000)); // Tilt correction |
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APM_RC.OutputCh(CAM_YAW_OUT, limitRange((CAM_CENT - (gyro_offset_yaw - AN[2])),1000,2000)); // Yaw correction |
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break; |
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// Only in case of we have switch values over 10 |
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default: |
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// We should not be here... |
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break; |
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} |
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} |
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#endif |
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