Camera control module for rotorcraft. More...

#include "modules/cam_control/rotorcraft_cam.h"
#include "subsystems/actuators.h"
#include "state.h"
#include "firmwares/rotorcraft/navigation.h"
#include "std.h"
#include "subsystems/datalink/telemetry.h"

Include dependency graph for rotorcraft_cam.c:

Go to the source code of this file.

Macros
#define	ROTORCRAFT_CAM_ON gpio_set
	Gpio output to turn camera power power on. More...

#define	ROTORCRAFT_CAM_OFF gpio_clear
	Gpio output to turn camera power power off. More...

#define	_SERVO_PARAM(_s, _p) SERVO_ ## _s ## _ ## _p

#define	SERVO_PARAM(_s, _p) _SERVO_PARAM(_s,_p)

#define	ROTORCRAFT_CAM_PAN_MIN 0

#define	ROTORCRAFT_CAM_PAN_MAX INT32_ANGLE_2_PI

Functions
static void	send_cam (struct transport_tx trans, struct link_device dev)

void	rotorcraft_cam_set_mode (uint8_t mode)

void	rotorcraft_cam_init (void)

void	rotorcraft_cam_periodic (void)

Variables
uint8_t	rotorcraft_cam_mode
	WP control. More...

int16_t	rotorcraft_cam_tilt

int16_t	rotorcraft_cam_tilt_pwm

int16_t	rotorcraft_cam_pan

Detailed Description

Camera control module 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.

Definition in file rotorcraft_cam.c.

Macro Definition Documentation

#define _SERVO_PARAM	(	_s,
		_p
	)	SERVO_ ## _s ## _ ## _p

Definition at line 71 of file rotorcraft_cam.c.

#define ROTORCRAFT_CAM_OFF gpio_clear

Gpio output to turn camera power power off.

Control whether to set or clear the ROTORCRAFT_CAM_SWITCH_GPIO to turn off the camera power. Should be defined to either gpio_set or gpio_clear (default). Not used if ROTORCRAFT_CAM_SWITCH_GPIO is not defined.

Definition at line 66 of file rotorcraft_cam.c.

Referenced by rotorcraft_cam_set_mode().

#define ROTORCRAFT_CAM_ON gpio_set

Gpio output to turn camera power power on.

Control whether to set or clear the ROTORCRAFT_CAM_SWITCH_GPIO to turn on the camera power. Should be defined to either gpio_set (default) or gpio_clear. Not used if ROTORCRAFT_CAM_SWITCH_GPIO is not defined.

Definition at line 57 of file rotorcraft_cam.c.

Referenced by rotorcraft_cam_set_mode().

#define ROTORCRAFT_CAM_PAN_MAX INT32_ANGLE_2_PI

Definition at line 89 of file rotorcraft_cam.c.

#define ROTORCRAFT_CAM_PAN_MIN 0

Definition at line 88 of file rotorcraft_cam.c.