Pan/Tilt camera API. More...

#include <inttypes.h>
#include "inter_mcu.h"

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Macros
#define	CAM_MODE_OFF 0 /* Do nothing */

#define	CAM_MODE_ANGLES 1 /* Input: servo angles */

#define	CAM_MODE_NADIR 2 /* Input: () */

#define	CAM_MODE_XY_TARGET 3 /* Input: target_x, target_y */

#define	CAM_MODE_WP_TARGET 4 /* Input: waypoint no */

#define	CAM_MODE_AC_TARGET 5 /* Input: ac id */

#define	CAM_MODE_STABILIZED 6

#define	CAM_MODE_RC 7

#define	CAM_PAN_MAX 90

#define	CAM_PAN_MIN -90

#define	CAM_TILT_MAX 90

#define	CAM_TILT_MIN -90

#define	cam_SetPanCommand(x) { cam_pan_command = x; imcu_set_command(COMMAND_CAM_PAN, cam_pan_command);}

#define	cam_SetTiltCommand(x) { cam_tilt_command = x; imcu_set_command(COMMAND_CAM_TILT, cam_tilt_command);}

Functions
void	cam_periodic (void)
	For CAM_MODE_AC_TARGET mode. More...

void	cam_init (void)

Variables
uint8_t	cam_mode

uint8_t	cam_lock

float	cam_phi_c

float	cam_theta_c

float	cam_pan_c

float	cam_tilt_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...

int16_t	cam_pan_command

int16_t	cam_tilt_command

Detailed Description

Pan/Tilt camera API.

Definition in file cam.h.

Macro Definition Documentation

◆ CAM_MODE_AC_TARGET

#define CAM_MODE_AC_TARGET 5 /* Input: ac id */

Definition at line 38 of file cam.h.

◆ CAM_MODE_ANGLES

#define CAM_MODE_ANGLES 1 /* Input: servo angles */

Definition at line 34 of file cam.h.

◆ CAM_MODE_NADIR

#define CAM_MODE_NADIR 2 /* Input: () */

Definition at line 35 of file cam.h.

◆ CAM_MODE_OFF

#define CAM_MODE_OFF 0 /* Do nothing */

Definition at line 33 of file cam.h.

◆ CAM_MODE_RC

#define CAM_MODE_RC 7

Definition at line 40 of file cam.h.

◆ CAM_MODE_STABILIZED

#define CAM_MODE_STABILIZED 6

Definition at line 39 of file cam.h.

◆ CAM_MODE_WP_TARGET

#define CAM_MODE_WP_TARGET 4 /* Input: waypoint no */

Definition at line 37 of file cam.h.

◆ CAM_MODE_XY_TARGET

#define CAM_MODE_XY_TARGET 3 /* Input: target_x, target_y */

Definition at line 36 of file cam.h.

◆ CAM_PAN_MAX

#define CAM_PAN_MAX 90

Definition at line 44 of file cam.h.

◆ CAM_PAN_MIN

#define CAM_PAN_MIN -90

Definition at line 47 of file cam.h.

◆ cam_SetPanCommand

#define cam_SetPanCommand ( x ) { cam_pan_command = x; imcu_set_command(COMMAND_CAM_PAN, cam_pan_command);}

Definition at line 78 of file cam.h.

◆ cam_SetTiltCommand

#define cam_SetTiltCommand ( x ) { cam_tilt_command = x; imcu_set_command(COMMAND_CAM_TILT, cam_tilt_command);}

Definition at line 80 of file cam.h.

◆ CAM_TILT_MAX

#define CAM_TILT_MAX 90

Definition at line 50 of file cam.h.

◆ CAM_TILT_MIN

#define CAM_TILT_MIN -90

Definition at line 53 of file cam.h.

Function Documentation

◆ 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_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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Variable Documentation

◆ cam_lock

uint8_t 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 65 of file cam.h.

◆ 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