cam.c File Reference

Pan/Tilt camera library. More...

#include <math.h>
#include "cam.h"
#include "subsystems/navigation/common_nav.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "state.h"
#include "subsystems/datalink/telemetry.h"

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Macros
#define	CAM_PAN0   RadOfDeg(0)
#define	CAM_TILT0   RadOfDeg(0)
#define	CAM_MODE0   CAM_MODE_OFF

Functions
void	cam_nadir (void)
	Point straight down. More...
void	cam_angles (void)
	Computes the servo values from cam_pan_c and cam_tilt_c. More...
void	cam_target (void)
	Computes the right angles from target_x, target_y, target_alt. More...
void	cam_waypoint_target (void)
void	cam_ac_target (void)
static void	send_cam (struct transport_tx *trans, struct link_device *dev)
void	cam_init (void)
void	cam_periodic (void)
	For CAM_MODE_AC_TARGET mode. More...

Variables
float	cam_pan_c
float	cam_tilt_c
float	cam_phi_c
float	cam_theta_c
float	cam_target_x
	Radians, for CAM_MODE_ANGLES mode. More...
float	cam_target_y
float	cam_target_alt
uint8_t	cam_target_wp
	For CAM_MODE_XY_TARGET mode. More...
uint8_t	cam_target_ac
	For CAM_MODE_WP_TARGET mode. More...
uint8_t	cam_mode
bool	cam_lock
int16_t	cam_pan_command
int16_t	cam_tilt_command

Detailed Description

Pan/Tilt camera library.

Definition in file cam.c.

Macro Definition Documentation

CAM_MODE0

#define CAM_MODE0   CAM_MODE_OFF

Definition at line 88 of file cam.c.

CAM_PAN0

#define CAM_PAN0   RadOfDeg(0)

Definition at line 70 of file cam.c.

CAM_TILT0

#define CAM_TILT0   RadOfDeg(0)

Definition at line 76 of file cam.c.

Function Documentation

cam_ac_target()

void cam_ac_target

(

void

)

Definition at line 317 of file cam.c.

Referenced by cam_periodic().

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cam_angles()

void cam_angles

(

void

)

Computes the servo values from cam_pan_c and cam_tilt_c.

Definition at line 203 of file cam.c.

References cam_pan_c, CAM_PAN_MAX, CAM_PAN_MIN, cam_phi_c, cam_theta_c, cam_tilt_c, CAM_TILT_MAX, CAM_TILT_MIN, MAX_PPRZ, MIN_PPRZ, and TRIM_PPRZ.

Referenced by cam_periodic(), cam_target(), and state2stereocam().

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cam_init()

void cam_init

(

void

)

Definition at line 119 of file cam.c.

References cam_mode, CAM_MODE0, DefaultPeriodic, register_periodic_telemetry(), and send_cam().

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cam_nadir()

void cam_nadir

(

void

)

Point straight down.

Definition at line 280 of file cam.c.

References cam_target(), cam_target_alt, cam_target_x, cam_target_y, stateGetPositionEnu_f(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by cam_periodic().

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cam_periodic()

void cam_periodic

(

void

)

For CAM_MODE_AC_TARGET mode.

Definition at line 129 of file cam.c.

References AP_MODE_AUTO1, AP_MODE_AUTO2, autopilot_get_mode(), cam_ac_target(), cam_angles(), cam_mode, CAM_MODE_AC_TARGET, CAM_MODE_ANGLES, CAM_MODE_NADIR, CAM_MODE_OFF, CAM_MODE_RC, CAM_MODE_STABILIZED, CAM_MODE_WP_TARGET, CAM_MODE_XY_TARGET, cam_nadir(), CAM_PAN0, cam_pan_c, cam_target(), CAM_TILT0, cam_tilt_c, cam_waypoint_target(), LED_OFF, LED_ON, MAX_PPRZ, and MIN_PPRZ.

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cam_target()

void cam_target

(

void

)

Computes the right angles from target_x, target_y, target_alt.

Definition at line 261 of file cam.c.

References cam_angles(), cam_pan_c, cam_target_alt, cam_target_x, cam_target_y, cam_tilt_c, FloatEulers::phi, stateGetHorizontalSpeedDir_f(), stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), stateGetPositionUtm_f(), FloatEulers::theta, vPoint(), EnuCoor_f::x, and EnuCoor_f::y.

Referenced by cam_nadir(), cam_periodic(), and cam_waypoint_target().

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cam_waypoint_target()

void cam_waypoint_target

(

void

)

Definition at line 295 of file cam.c.

References cam_target(), cam_target_alt, cam_target_wp, cam_target_x, cam_target_y, ground_alt, nb_waypoint, WaypointX, and WaypointY.

Referenced by cam_periodic().

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send_cam()

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

static

Definition at line 102 of file cam.c.

References cam_phi_c, cam_target_x, cam_target_y, cam_theta_c, dev, FloatVect3::x, and FloatVect3::y.

Referenced by cam_init().

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Variable Documentation

cam_lock

bool cam_lock

Definition at line 91 of file cam.c.

Referenced by vPoint().

cam_mode

uint8_t cam_mode

Definition at line 90 of file cam.c.

Referenced by cam_init(), cam_periodic(), cam_segment_periodic(), cam_segment_stop(), and vPoint().

cam_pan_c

float cam_pan_c

Definition at line 72 of file cam.c.

Referenced by cam_angles(), cam_periodic(), and cam_target().

cam_pan_command

int16_t cam_pan_command

Definition at line 93 of file cam.c.

cam_phi_c

float cam_phi_c

Definition at line 80 of file cam.c.

Referenced by cam_angles(), and send_cam().

cam_target_ac

uint8_t cam_target_ac

For CAM_MODE_WP_TARGET mode.

Definition at line 85 of file cam.c.

cam_target_alt

float cam_target_alt

Definition at line 83 of file cam.c.

Referenced by cam_nadir(), cam_segment_periodic(), cam_target(), and cam_waypoint_target().

cam_target_wp

uint8_t cam_target_wp

For CAM_MODE_XY_TARGET mode.

Definition at line 84 of file cam.c.

Referenced by cam_waypoint_target().

cam_target_x

float cam_target_x

Radians, for CAM_MODE_ANGLES mode.

Definition at line 83 of file cam.c.

Referenced by cam_nadir(), cam_segment_periodic(), cam_target(), cam_waypoint_target(), and send_cam().

cam_target_y

float cam_target_y

Definition at line 83 of file cam.c.

Referenced by cam_nadir(), cam_segment_periodic(), cam_target(), cam_waypoint_target(), and send_cam().

cam_theta_c

float cam_theta_c

Definition at line 81 of file cam.c.

Referenced by cam_angles(), and send_cam().

cam_tilt_c

float cam_tilt_c

Definition at line 78 of file cam.c.

Referenced by cam_angles(), cam_periodic(), and cam_target().

cam_tilt_command

int16_t cam_tilt_command

Definition at line 94 of file cam.c.