cam_gimbal.h File Reference

Pan/Tilt camera gimbal control. More...

#include "std.h"
#include "math/pprz_algebra_float.h"
#include "math/pprz_geodetic_float.h"

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Data Structures
struct	CamGimbal

Macros
#define	CAM_GIMBAL_MODE_OFF   0
#define	CAM_GIMBAL_MODE_JOYSTICK   1
#define	CAM_GIMBAL_MODE_ANGLES   2
#define	CAM_GIMBAL_MODE_NADIR   3
#define	CAM_GIMBAL_MODE_TARGET   4
#define	CAM_GIMBAL_MODE_WAYPOINT   5
#define	CAM_GIMBAL_MODE_AC_TARGET   6
#define	CAM_GIMBAL_MODE_NB   7
#define	cam_gimbal_SetMode(x)   cam_gimbal_set_mode(&cam_gimbal,x)
#define	cam_gimbal_SetLock(x)   cam_gimbal_set_lock(&cam_gimbal, x)
#define	cam_gimbal_SetPanCommand(x)   cam_gimbal_set_pan_command(&cam_gimbal, x)
#define	cam_gimbal_SetTiltCommand(x)   cam_gimbal_set_pan_command(&cam_gimbal, x)

Typedefs
typedef void(*	cam_angles_from_dir) (struct FloatVect3 dir, float *pan, float *tilt)
	Function pointer to return cam angle from a specified direction.

Functions
void	cam_gimbal_init (void)
	Init module.
void	cam_gimbal_periodic (void)
	Periodic call (run control)
void	cam_gimbal_setup_angles (struct CamGimbal *cam, float pan_max, float pan_min, float tilt_max, float tilt_min)
void	cam_gimbal_setup_mounting (struct CamGimbal *cam, struct FloatEulers gimbal_to_body, struct FloatVect3 gimbal_pos)
void	cam_gimbal_set_angles_callback (struct CamGimbal *cam, cam_angles_from_dir compute_angles)
void	cam_gimbal_run (struct CamGimbal *cam)
	Run camera control.
void	cam_gimbal_set_mode (struct CamGimbal *cam, uint8_t mode)
void	cam_gimbal_set_lock (struct CamGimbal *cam, bool lock)
void	cam_gimbal_set_pan_command (struct CamGimbal *cam, int16_t pan)
void	cam_gimbal_set_tilt_command (struct CamGimbal *cam, int16_t tilt)
void	cam_gimbal_set_angles_rad (struct CamGimbal *cam, float pan, float tilt)
void	cam_gimbal_set_angles_deg (struct CamGimbal *cam, float pan, float tilt)
void	cam_gimbal_set_target_pos (struct CamGimbal *cam, struct EnuCoor_f target)
void	cam_gimbal_set_wp_id (struct CamGimbal *cam, uint8_t wp_id)
void	cam_gimbal_set_ac_id (struct CamGimbal *cam, uint8_t ac_id)

Variables
struct CamGimbal	cam_gimbal

Detailed Description

Pan/Tilt camera gimbal control.

Definition in file cam_gimbal.h.

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Data Structure Documentation

CamGimbal

struct CamGimbal

Definition at line 55 of file cam_gimbal.h.

Collaboration diagram for CamGimbal:

Data Fields
cam_angles_from_dir	compute_angles	cam angles from looking direction callback
struct FloatVect3	gimbal_pos	position of the gimbal in body NED frame [m]
struct FloatRMat	gimbal_to_body	rotation matrix from gimbal to body frame
bool	lock	lock current command
uint8_t	mode	gimbal control mode
float	pan_angle	pan angle [rad]
int16_t	pan_cmd	pan command [pprz]
int16_t	pan_joystick	pan command from joystick
float	pan_max	pan angle at maximum command
float	pan_min	pan angle at minimum command
uint8_t	target_ac_id	aircraft ID to track
struct EnuCoor_f	target_pos	target point in ENU world frame [m]
uint8_t	target_wp_id	waypoint ID to track
float	tilt_angle	tilt angle [rad]
int16_t	tilt_cmd	tilt command [pprz]
int16_t	tilt_joystick	tilt command from joystick
float	tilt_max	tilt angle at maximum command
float	tilt_min	tilt angle at minimum command

Macro Definition Documentation

CAM_GIMBAL_MODE_AC_TARGET

#define CAM_GIMBAL_MODE_AC_TARGET   6

Definition at line 41 of file cam_gimbal.h.

CAM_GIMBAL_MODE_ANGLES

#define CAM_GIMBAL_MODE_ANGLES   2

Definition at line 37 of file cam_gimbal.h.

CAM_GIMBAL_MODE_JOYSTICK

#define CAM_GIMBAL_MODE_JOYSTICK   1

Definition at line 36 of file cam_gimbal.h.

CAM_GIMBAL_MODE_NADIR

#define CAM_GIMBAL_MODE_NADIR   3

Definition at line 38 of file cam_gimbal.h.

CAM_GIMBAL_MODE_NB

#define CAM_GIMBAL_MODE_NB   7

Definition at line 42 of file cam_gimbal.h.

CAM_GIMBAL_MODE_OFF

#define CAM_GIMBAL_MODE_OFF   0

Definition at line 35 of file cam_gimbal.h.

CAM_GIMBAL_MODE_TARGET

#define CAM_GIMBAL_MODE_TARGET   4

Definition at line 39 of file cam_gimbal.h.

CAM_GIMBAL_MODE_WAYPOINT

#define CAM_GIMBAL_MODE_WAYPOINT   5

Definition at line 40 of file cam_gimbal.h.

cam_gimbal_SetLock

#define cam_gimbal_SetLock

(

x

)

cam_gimbal_set_lock(&cam_gimbal, x)

Definition at line 106 of file cam_gimbal.h.

cam_gimbal_SetMode

#define cam_gimbal_SetMode

(

x

)

cam_gimbal_set_mode(&cam_gimbal,x)

Definition at line 105 of file cam_gimbal.h.

cam_gimbal_SetPanCommand

#define cam_gimbal_SetPanCommand

(

x

)

cam_gimbal_set_pan_command(&cam_gimbal, x)

Definition at line 107 of file cam_gimbal.h.

cam_gimbal_SetTiltCommand

#define cam_gimbal_SetTiltCommand

(

x

)

cam_gimbal_set_pan_command(&cam_gimbal, x)

Definition at line 108 of file cam_gimbal.h.

Typedef Documentation

cam_angles_from_dir

typedef void(* cam_angles_from_dir) (struct FloatVect3 dir, float *pan, float *tilt)

Function pointer to return cam angle from a specified direction.

The direction is the unit vector from the camera position to the target expressed in the gimbal frame. The resulting angles depends on the type of gimbal that is used, in particular the number and order of rotations. This function is provided by the user as it is specific to each mounting. It returns the pan and tilt angles.

Definition at line 53 of file cam_gimbal.h.

Function Documentation

cam_gimbal_init()

void cam_gimbal_init ( void  )

extern

Init module.

Definition at line 326 of file cam_gimbal.c.

References ABI_BROADCAST, cam_gimbal, CAM_GIMBAL_PAN_MAX, CAM_GIMBAL_PAN_MIN, CAM_GIMBAL_POS_X, CAM_GIMBAL_POS_Y, CAM_GIMBAL_POS_Z, cam_gimbal_set_angles_callback(), cam_gimbal_setup_angles(), cam_gimbal_setup_mounting(), CAM_GIMBAL_TILT_MAX, CAM_GIMBAL_TILT_MIN, CAM_GIMBAL_TO_BODY_PHI, CAM_GIMBAL_TO_BODY_PSI, CAM_GIMBAL_TO_BODY_THETA, default_compute_angles(), DefaultPeriodic, foo, joystick_cb(), joystick_ev, register_periodic_telemetry(), and send_cam().

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cam_gimbal_periodic()

void cam_gimbal_periodic ( void  )

extern

Periodic call (run control)

Definition at line 355 of file cam_gimbal.c.

References cam_gimbal, cam_gimbal_run(), foo, CamGimbal::pan_cmd, and CamGimbal::tilt_cmd.

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cam_gimbal_run()

void cam_gimbal_run ( struct CamGimbal *  cam )

extern

Run camera control.

Definition at line 294 of file cam_gimbal.c.

References cam_gimbal_ac_target(), cam_gimbal_angles(), cam_gimbal_joystick(), CAM_GIMBAL_MODE_AC_TARGET, CAM_GIMBAL_MODE_ANGLES, CAM_GIMBAL_MODE_JOYSTICK, CAM_GIMBAL_MODE_NADIR, CAM_GIMBAL_MODE_OFF, CAM_GIMBAL_MODE_TARGET, CAM_GIMBAL_MODE_WAYPOINT, cam_gimbal_nadir(), CAM_GIMBAL_PAN0, cam_gimbal_set_pan_command(), cam_gimbal_target(), CAM_GIMBAL_TILT0, cam_gimbal_waypoint_target(), and foo.

Referenced by cam_gimbal_periodic().

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cam_gimbal_set_ac_id()

void cam_gimbal_set_ac_id ( struct CamGimbal *  cam, uint8_t  ac_id  )

extern

Definition at line 286 of file cam_gimbal.c.

References foo.

cam_gimbal_set_angles_callback()

void cam_gimbal_set_angles_callback ( struct CamGimbal *  cam, cam_angles_from_dir  compute_angles  )

extern

Definition at line 229 of file cam_gimbal.c.

References foo.

Referenced by cam_gimbal_init(), and gimbal_caddx_gm3_init().

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cam_gimbal_set_angles_deg()

void cam_gimbal_set_angles_deg ( struct CamGimbal *  cam, float  pan, float  tilt  )

extern

Definition at line 266 of file cam_gimbal.c.

References foo.

cam_gimbal_set_angles_rad()

void cam_gimbal_set_angles_rad ( struct CamGimbal *  cam, float  pan, float  tilt  )

extern

Definition at line 258 of file cam_gimbal.c.

References foo.

cam_gimbal_set_lock()

void cam_gimbal_set_lock ( struct CamGimbal *  cam, bool  lock  )

extern

Definition at line 243 of file cam_gimbal.c.

References foo.

cam_gimbal_set_mode()

void cam_gimbal_set_mode ( struct CamGimbal *  cam, uint8_t  mode  )

extern

Definition at line 234 of file cam_gimbal.c.

References CAM_GIMBAL_MODE_NB, CAM_GIMBAL_MODE_OFF, foo, and mode.

cam_gimbal_set_pan_command()

void cam_gimbal_set_pan_command ( struct CamGimbal *  cam, int16_t  pan  )

extern

Definition at line 248 of file cam_gimbal.c.

References foo, and TRIM_PPRZ.

Referenced by cam_gimbal_joystick(), and cam_gimbal_run().

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cam_gimbal_set_target_pos()

void cam_gimbal_set_target_pos ( struct CamGimbal *  cam, struct EnuCoor_f  target  )

extern

Definition at line 274 of file cam_gimbal.c.

References foo, and target.

Referenced by cam_gimbal_nadir(), and cam_gimbal_waypoint_target().

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cam_gimbal_set_tilt_command()

void cam_gimbal_set_tilt_command ( struct CamGimbal *  cam, int16_t  tilt  )

extern

Definition at line 253 of file cam_gimbal.c.

References foo, and TRIM_PPRZ.

Referenced by cam_gimbal_joystick().

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cam_gimbal_set_wp_id()

void cam_gimbal_set_wp_id ( struct CamGimbal *  cam, uint8_t  wp_id  )

extern

Definition at line 279 of file cam_gimbal.c.

References foo, and nb_waypoint.

cam_gimbal_setup_angles()

void cam_gimbal_setup_angles ( struct CamGimbal *  cam, float  pan_max, float  pan_min, float  tilt_max, float  tilt_min  )

extern

Definition at line 211 of file cam_gimbal.c.

References foo.

Referenced by cam_gimbal_init(), and gimbal_caddx_gm3_init().

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cam_gimbal_setup_mounting()

void cam_gimbal_setup_mounting ( struct CamGimbal *  cam, struct FloatEulers  gimbal_to_body, struct FloatVect3  gimbal_pos  )

extern

Definition at line 221 of file cam_gimbal.c.

References float_rmat_of_eulers, and foo.

Referenced by cam_gimbal_init().

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Variable Documentation

cam_gimbal

struct CamGimbal cam_gimbal

extern

Definition at line 86 of file cam_gimbal.c.

Referenced by cam_gimbal_init(), cam_gimbal_periodic(), gimbal_caddx_gm3_init(), joystick_cb(), and send_cam().