thermal_ctl module

Control a thermal camera connected to a companion computer.

See https://github.com/enacuavlab/thermal_imav2026 for more information about the integration of a MLX90640 thermal camera.

Payload is controlled via PAYLOAD_COMMAND messages. Designed for IMAV2026 competition.

Example for airframe file

Add to your firmware section:

<module name="thermal_ctl"/>

Module functions

Periodic Functions

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

• thermal_cluster_periodic()
  • Frequency in Hz: 1
  • 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 PAYLOAD_FLOAT call thermal_clusters_cb(buf)

Files

Header Files

The following headers are automatically included in modules.h

• thermal_ctl.h

Source Files

• modules/digital_cam/thermal_ctl.c

Raw thermal_ctl.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
<module name="thermal_ctl" dir="digital_cam" task="sensors">
  <doc>
    <description>
      Control a thermal camera connected to a companion computer.
 
      See https://github.com/enacuavlab/thermal_imav2026 for more information
      about the integration of a MLX90640 thermal camera.
 
      Payload is controlled via PAYLOAD_COMMAND messages.
      Designed for IMAV2026 competition.
    </description>
  </doc>
  <settings>
  <dl_settings>
    <dl_settings NAME="Thermal">
        <dl_setting MIN="0" MAX="3"  STEP="1" var="thermal_ctl" values="NONE|PWR_OFF|REC|STOP_REC" header="digital_cam/thermal_ctl" handler="thermal_ctl_handler">
          <strip_button name="PWR_OFF"  value="1" group="speed_mode"/>
          <strip_button name="REC"      value="2" group="speed_mode"/>
          <strip_button name="STOP_REC" value="3" group="speed_mode"/>
        </dl_setting>
        <dl_setting MIN="-200" MAX="200"  STEP="1" var="thermal_threshold" header="digital_cam/thermal_ctl" handler="thermal_threshold_handler"/>
    </dl_settings>
  </dl_settings>
</settings>
  <dep>
    <depends>extra_dl</depends>
  </dep>
  <header>
    <file name="thermal_ctl.h"/>
  </header>
  <periodic fun="thermal_cluster_periodic()" freq="1" />
  <datalink fun="thermal_clusters_cb(buf)" message="PAYLOAD_FLOAT" class="telemetry"/>
  <makefile target="ap">
    <file name="thermal_ctl.c"/>
    <test>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="EXTRA_DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART0"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
</module>