digital_cam_pprzlink module

Digital Photo Camera Triggering using PPRZLINK messages

Sends DC_SHOT and PAYLOAD_COMMAND messages over serial link. Flags DC_SHOT_SYNC_SEND and DC_SHOT_EXTRA_DL are set to TRUE.

An example application can be found at: https://github.com/enacuavlab/ueye_pprzlink This project controls a ueye camera with a NanoPI (or equivalent) connected to the autopilot. It is possible to trigger the camera with DC_SHOT messages (images are georeference with GPS coordinates in Exif), but also to change the exposure and get the feedback from the camera (useful to check the result when autoexpo is requested).

Example for airframe file

Add to your firmware section:

<module name="digital_cam_pprzlink"/>

Module functions

Init Functions

These initialization functions are called once on startup.

• pprzlink_cam_ctrl_init()

Periodic Functions

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

• pprzlink_cam_ctrl_periodic()
  • Frequency in Hz: 10
  • Autorun: TRUE
    Periodic function automatically starts after init.

Datalink Functions

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

• on message PAYLOAD_COMMAND call dc_expo_cb(buf)

Files

Header Files

The following headers are automatically included in modules.h

• pprzlink_cam_ctrl.h

Source Files

• modules/digital_cam/pprzlink_cam_ctrl.c

Raw digital_cam_pprzlink.xml file:

<!DOCTYPE module SYSTEM "./module.dtd">
 
<module name="digital_cam_pprzlink" dir="digital_cam">
  <doc>
    <description>
      Digital Photo Camera Triggering using PPRZLINK messages
 
      Sends DC_SHOT and PAYLOAD_COMMAND messages over serial link.
      Flags DC_SHOT_SYNC_SEND and DC_SHOT_EXTRA_DL are set to TRUE.
 
      An example application can be found at: https://github.com/enacuavlab/ueye_pprzlink
      This project controls a ueye camera with a NanoPI (or equivalent)
      connected to the autopilot. It is possible to trigger the camera
      with DC_SHOT messages (images are georeference with GPS coordinates
      in Exif), but also to change the exposure and get the feedback 
      from the camera (useful to check the result when autoexpo is requested).
    </description>
  </doc>
  <dep>
    <depends>digital_cam_common,extra_dl</depends>
    <conflicts>digital_cam_gpio,digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts>
  </dep>
  <header>
    <file name="pprzlink_cam_ctrl.h"/>
  </header>
  <init fun="pprzlink_cam_ctrl_init()"/>
  <periodic fun="pprzlink_cam_ctrl_periodic()" freq="10" autorun="TRUE"/>
  <datalink message="PAYLOAD_COMMAND" fun="dc_expo_cb(buf)"/>
  <makefile target="ap|sim|nps">
    <define name="DIGITAL_CAM"/>
    <define name="DC_SHOT_SYNC_SEND"/>
    <define name="DC_SHOT_EXTRA_DL"/>
    <file name="pprzlink_cam_ctrl.c"/>
    <test>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart0"/>
      <define name="USE_UART0"/>
      <define name="EXTRA_DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
</module>