rotorcraft_cam module

Camera control for rotorcraft.

The camera is controled by the heading of the vehicle for pan and can be controlled by a servo for tilt if defined.

Four modes:

• NONE: no control
• MANUAL: the servo position is set with PWM
• HEADING: the servo position and the heading of the rotorcraft are set with angles
• WP: the camera is tracking a waypoint (Default: CAM)

If ROTORCRAFT_CAM_SWITCH_GPIO is defined, this gpio is set/cleared to switch the power of the camera on in normal modes and disable it when in NONE mode. On boards with CAM_SWITCH, ROTORCRAFT_CAM_SWITCH_GPIO can be defined to CAM_SWITCH_GPIO.

Example for airframe file

Add to your firmware section:

<module name="rotorcraft_cam"/>

Module configuration options

Airframe file section

• section name: CAM prefix: ROTORCRAFT_CAM_
  • name DEFAULT_MODE value: MODE_NONE|MODE_MANUAL|MODE_HEADING|MODE_WP
    Description: Select default mode (default: MODE_NONE)
  • name SWITCH_GPIO value: gpio
    Description: GPIO used to turn on/off the camer power, e.g. CAM_SWITCH_GPIO or GPIOB,GPIO22. Nothing set by default.
  • name CAM_ON value: gpio_set|gpio_clear
    Description: Gpio output level to turn camera power power on. gpio_set (default) or gpio_clear
  • name CAM_OFF value: gpio_set|gpio_clear
    Description: Gpio output level to turn camera power power off. gpio_set or gpio_clear (default)
  • name TILT_SERVO value: name
    Description: Servo name for tilt control (no tilt control if not defined)
  • name TILT_ANGLE_MIN value: angle
    Description: Tilt angle corresponding to the servo min position
  • name TILT_ANGLE_MAX value: angle
    Description: Tilt angle corresponding to the servo max position
  • name USE_PAN value: TRUE|FALSE
    Description: Enable pan control with heading (default: TRUE)
  • name TRACK_WP value: WP_XXX
    Description: Enable waypoint tracking mode on the selected WP (default: enable if waypoint CAM is defined)
  • name STICK_TILT_INC value: angle/stick_input
    Description: Sensitivity of the datalink stick tilt control (default: 10 deg)
  • name STICK_PAN_INC value: angle/stick_input
    Description: Sensitivity of the datalink stick pan control (default: 20 deg)

Module functions

Init Functions

These initialization functions are called once on startup.

• rotorcraft_cam_init()

Periodic Functions

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

• rotorcraft_cam_periodic()
  • Frequency in Hz: 10.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

• on message ROTORCRAFT_CAM_STICK call ROTORCRAFT_CAM_STICK_PARSE(buf)

Files

Header Files

The following headers are automatically included in modules.h

• rotorcraft_cam.h

Source Files

• modules/cam_control/rotorcraft_cam.c

Raw rotorcraft_cam.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="rotorcraft_cam" dir="cam_control">
  <doc>
    <description>
Camera control for rotorcraft.
The camera is controled by the heading of the vehicle for pan and can be controlled by a servo for tilt if defined.
 
Four modes:
  - NONE: no control
  - MANUAL: the servo position is set with PWM
  - HEADING: the servo position and the heading of the rotorcraft are set with angles
  - WP: the camera is tracking a waypoint (Default: CAM)
 
If ROTORCRAFT_CAM_SWITCH_GPIO is defined, this gpio is set/cleared to switch the power
of the camera on in normal modes and disable it when in NONE mode.
On boards with CAM_SWITCH, ROTORCRAFT_CAM_SWITCH_GPIO can be defined to CAM_SWITCH_GPIO.
 
    </description>
    <section name="CAM" prefix="ROTORCRAFT_CAM_">
      <define name="DEFAULT_MODE" value="MODE_NONE|MODE_MANUAL|MODE_HEADING|MODE_WP" description="Select default mode (default: MODE_NONE)"/>
      <define name="SWITCH_GPIO" value="gpio" description="GPIO used to turn on/off the camer power, e.g. CAM_SWITCH_GPIO or GPIOB,GPIO22. Nothing set by default."/>
      <define name="CAM_ON" value="gpio_set|gpio_clear" description="Gpio output level to turn camera power power on. gpio_set (default) or gpio_clear"/>
      <define name="CAM_OFF" value="gpio_set|gpio_clear" description="Gpio output level to turn camera power power off. gpio_set or gpio_clear (default) "/>
      <define name="TILT_SERVO" value="name" description="Servo name for tilt control (no tilt control if not defined)"/>
      <define name="TILT_ANGLE_MIN" value="angle" description="Tilt angle corresponding to the servo min position"/>
      <define name="TILT_ANGLE_MAX" value="angle" description="Tilt angle corresponding to the servo max position"/>
      <define name="USE_PAN" value="TRUE|FALSE" description="Enable pan control with heading (default: TRUE)"/>
      <define name="TRACK_WP" value="WP_XXX" description="Enable waypoint tracking mode on the selected WP (default: enable if waypoint CAM is defined)"/>
      <define name="STICK_TILT_INC" value="angle/stick_input" description="Sensitivity of the datalink stick tilt control (default: 10 deg)"/>
      <define name="STICK_PAN_INC" value="angle/stick_input" description="Sensitivity of the datalink stick pan control (default: 20 deg)"/>
    </section>
  </doc>
  <settings>
    <dl_settings>
      <dl_settings NAME="CAM">
        <dl_setting var="rotorcraft_cam_mode" MIN="0" STEP="1" MAX="3" module="cam_control/rotorcraft_cam" shortname="mode" values="NONE|MAN|HEADING|WP" handler="SetCamMode">
          <strip_button name="CN" value="0" group="cam_mode1"/>
          <strip_button name="CM" value="1" group="cam_mode1"/>
          <strip_button name="CH" value="2" group="cam_mode2"/>
          <strip_button name="CWP" value="3" group="cam_mode2"/>
          <key_press key="F1" value="0"/>
          <key_press key="F2" value="1"/>
        </dl_setting>
        <dl_setting var="rotorcraft_cam_tilt_pprz" min="MIN_PPRZ" step="1" max="MAX_PPRZ" shortname="tilt_pprz"/>
        <dl_setting var="rotorcraft_cam_tilt" min="-90" step="1" max="0" shortname="tilt" alt_unit="deg" alt_unit_coef="0.0139882">
          <strip_button name="Look Foreward" icon="lookfore.png" value="0" group="cam_look"/>
          <strip_button name="Look Down" icon="lookdown.png" value="-6434" group="cam_look"/>
        </dl_setting>
        <dl_setting var="rotorcraft_cam_pan" MIN="0" STEP="1" MAX="360" shortname="pan" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="rotorcraft_cam.h"/>
  </header>
  <init fun="rotorcraft_cam_init()"/>
  <periodic fun="rotorcraft_cam_periodic()" freq="10."/>
  <datalink message="ROTORCRAFT_CAM_STICK" fun="ROTORCRAFT_CAM_STICK_PARSE(buf)"/>
  <makefile>
    <file name="rotorcraft_cam.c"/>
  </makefile>
</module>