cam_gimbal module

Generic PAN/TILT camera gimbal control

No detailed description...

Example for airframe file

Add to your firmware section:

<module name="cam_gimbal"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• cam_gimbal_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• cam_gimbal_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• cam_gimbal.h

Source Files

• modules/cam_control/cam_gimbal.c

Raw cam_gimbal.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="cam_gimbal" dir="cam_control" task="control">
  <doc>
    <description>
      Generic PAN/TILT camera gimbal control
    </description>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="cam control">
        <dl_setting MAX="7" MIN="0" STEP="1" module="cam_control/cam_gimbal" VAR="cam_gimbal.mode" shortname="mode" values="OFF|JOYSTICK|ANGLES|NADIR|TARGET|WAYPOINT|AC_TARGET" handler="SetMode"/>
        <dl_setting MAX="1" MIN="0" STEP="1" module="cam_control/cam_gimbal"  VAR="cam_gimbal.lock" shortname="lock" values="UNLOCK|LOCK" handler="SetLock"/>
        <dl_setting MAX="90" MIN="-90" STEP="1" var="cam_gimbal.tilt_angle" shortname="tilt" unit="rad" alt_unit="deg"/>
        <dl_setting MAX="180" MIN="-180" STEP="1" var="cam_gimbal.pan_angle" shortname="pan" unit="rad" alt_unit="deg"/>
        <dl_setting min="1" max="27" step="1" var="cam_gimbal.target_wp_id" shortname="wp id"/>
        <dl_setting min="1" max="255" step="1" var="cam_gimbal.target_ac_id" shortname="ac id"/>
        <dl_setting MAX="100." MIN="-100." STEP="1." var="cam_gimbal.target_pos.x" shortname="target x" unit="m"/>
        <dl_setting MAX="100." MIN="-100." STEP="1." var="cam_gimbal.target_pos.y" shortname="target y" unit="m"/>
        <dl_setting MAX="100." MIN="-100." STEP="1." var="cam_gimbal.target_pos.z" shortname="target z" unit="m"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <dep>
    <recommends>joystick</recommends>
  </dep>
  <header>
    <file name="cam_gimbal.h"/>
  </header>
  <init fun="cam_gimbal_init()"/>
  <periodic fun="cam_gimbal_periodic()" />
  <makefile>
    <file name="cam_gimbal.c"/>
    <test firmware="fixedwing"/>
    <test firmware="rotorcraft"/>
    <test firmware="rover"/>
  </makefile>
</module>