#include "dc.h"
#include "firmwares/rotorcraft/navigation.h"
#include "mcu_periph/sys_time.h"
#include "mcu_periph/uart.h"
#include "pprzlink/messages.h"
#include "subsystems/datalink/downlink.h"
#include "state.h"
#include "subsystems/gps.h"

Include dependency graph for dc.c:

Macros
#define	DC_AUTOSHOOT_PERIOD 1.0
	default time interval for periodic mode: 1sec More...

#define	DC_AUTOSHOOT_DISTANCE_INTERVAL 50
	default distance interval for distance mode: 50m More...

#define	DC_AUTOSHOOT_DISTANCE_INIT 0
	default distance of the first shoot: 0m (start immediately) More...

#define	DC_AUTOSHOOT_SURVEY_INTERVAL 50
	default distance interval for survey mode: 50m More...

#define	DC_SHOT_SYNC_SEND 1
	by default send DC_SHOT message when photo was taken More...

Functions
void	dc_send_shot_position (void)
	Send Down the coordinates of where the photo was taken. More...

void	dc_init (void)
	initialize settings More...

uint8_t	dc_info (void)
	Send an info message. More...

void	dc_send_command_common (uint8_t cmd)
	Command sending function. More...

uint8_t	dc_distance (float interval)
	Sets the dc control in distance mode. More...

uint8_t	dc_circle (float interval, float start)
	Sets the dc control in circle mode. More...

uint8_t	dc_survey (float interval, float x, float y)
	Sets the dc control in distance mode. More...

uint8_t	dc_stop (void)
	Stop dc control. More...

static float	dim_mod (float a, float b, float m)

void	dc_periodic (void)
	periodic function More...

Variables
dc_autoshoot_type	dc_autoshoot = DC_AUTOSHOOT_STOP

uint16_t	dc_gps_count = 0
	number of images taken since the last change of dc_mode More...

uint8_t	dc_cam_tracing = 1

float	dc_cam_angle = 0
	camera angle More...

float	dc_circle_interval = 0
	angle between dc shots in degree More...

float	dc_circle_start_angle = 0
	angle a where first image will be taken at a + delta More...

float	dc_circle_last_block = 0

float	dc_circle_max_blocks = 0

float	dc_survey_interval = DC_AUTOSHOOT_SURVEY_INTERVAL
	distance between dc shots in meters More...

float	dc_gps_next_dist = 0

float	dc_gps_x = 0
	point of reference for the survey mode More...

float	dc_gps_y = 0

static struct FloatVect2	last_shot_pos = {0.0, 0.0}

float	dc_distance_interval
	AutoShoot photos on distance to last shot in meters. More...

float	dc_autoshoot_period
	AutoShoot photos every X seconds. More...

uint16_t	dc_photo_nr = 0
	export the number of the last photo More...

Detailed Description

Standard Digital Camera Control Interface.

-Standard IO -I2C Control

Usage: (from the flight plan, the settings or any airborne code):

dc_send_command( )
set the appropriate autoshoot mode (off/time/distance/trigger)
use the module periodic function to set the autorepeat interval
define SENSOR_SYNC_SEND to get the DC_SHOT_MESSAGE on every SHOOT command

Definition in file dc.c.

Macro Definition Documentation

◆ DC_AUTOSHOOT_DISTANCE_INIT

#define DC_AUTOSHOOT_DISTANCE_INIT 0

default distance of the first shoot: 0m (start immediately)

Definition at line 58 of file dc.c.

◆ DC_AUTOSHOOT_DISTANCE_INTERVAL

#define DC_AUTOSHOOT_DISTANCE_INTERVAL 50

default distance interval for distance mode: 50m

Definition at line 53 of file dc.c.

◆ DC_AUTOSHOOT_PERIOD

#define DC_AUTOSHOOT_PERIOD 1.0

default time interval for periodic mode: 1sec

Definition at line 48 of file dc.c.

◆ DC_AUTOSHOOT_SURVEY_INTERVAL

#define DC_AUTOSHOOT_SURVEY_INTERVAL 50

default distance interval for survey mode: 50m

Definition at line 63 of file dc.c.

◆ DC_SHOT_SYNC_SEND

#define DC_SHOT_SYNC_SEND 1

by default send DC_SHOT message when photo was taken

Definition at line 88 of file dc.c.

Function Documentation

◆ dc_circle()

uint8_t dc_circle	(	float	interval,
		float	start
	)

Sets the dc control in circle mode.

In this mode the dc control assumes a perfect circular course.

The 'start' value is the reference course and 'interval' the minimum angle between shots. If 'start' is DC_IGNORE the current course is used instead.

The first picture is taken at angle start+interval.

Parameters

interval	minimum angle between shots in deg
start	reference course in deg (or special DC_IGNORE)

Returns: zero

Definition at line 212 of file dc.c.

References dc_autoshoot, DC_AUTOSHOOT_CIRCLE, dc_circle_interval, dc_circle_last_block, dc_circle_max_blocks, dc_circle_start_angle, dc_gps_count, DC_IGNORE, dc_info(), and stateGetNedToBodyEulers_f().

Here is the call graph for this function:

◆ dc_distance()

uint8_t dc_distance ( float interval )

Sets the dc control in distance mode.

Shoot the next pic if distance to last saved shot position is greater than interval.

The first picture is taken at after interval.

Parameters

interval minimum distance between shots in m

Returns: zero

Definition at line 199 of file dc.c.

References dc_autoshoot, DC_AUTOSHOOT_DISTANCE, dc_distance_interval, dc_gps_count, dc_info(), last_shot_pos, FloatVect2::x, and FloatVect2::y.

Here is the call graph for this function:

◆ dc_info()

uint8_t dc_info ( void )

Send an info message.

Containing information about position, course, buffer and all other internal variables used by the dc control.

Definition at line 163 of file dc.c.

References course, dc_autoshoot, dc_autoshoot_period, dc_circle_interval, dc_circle_last_block, dc_circle_start_angle, dc_gps_count, dc_gps_next_dist, dc_gps_x, dc_gps_y, dc_photo_nr, dc_survey_interval, DefaultChannel, DefaultDevice, mode, stateGetNedToBodyEulers_f(), and stateGetPositionLla_i().

Referenced by dc_circle(), dc_distance(), dc_stop(), and dc_survey().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dc_init()

void dc_init ( void )

initialize settings

Definition at line 156 of file dc.c.

References dc_autoshoot, DC_AUTOSHOOT_DISTANCE_INTERVAL, DC_AUTOSHOOT_PERIOD, dc_autoshoot_period, DC_AUTOSHOOT_STOP, and dc_distance_interval.

Referenced by atmega_i2c_cam_ctrl_init(), dc_ctrl_parrot_mykonos_init(), digital_cam_uart_init(), digital_cam_video_init(), gpio_cam_ctrl_init(), and servo_cam_ctrl_init().

Here is the caller graph for this function:

◆ dc_periodic()

void dc_periodic ( void )

periodic function

Definition at line 273 of file dc.c.

References course, dc_autoshoot, DC_AUTOSHOOT_CIRCLE, DC_AUTOSHOOT_DISTANCE, dc_autoshoot_period, DC_AUTOSHOOT_PERIODIC, DC_AUTOSHOOT_STOP, DC_AUTOSHOOT_SURVEY, dc_circle_interval, dc_circle_last_block, dc_circle_max_blocks, dc_circle_start_angle, dc_distance_interval, dc_gps_count, dc_gps_next_dist, dc_gps_x, dc_gps_y, dc_send_command(), DC_SHOOT, dc_survey_interval, dim_mod(), float_vect2_norm(), get_sys_time_float(), last_shot_pos, stateGetNedToBodyEulers_f(), stateGetPositionEnu_f(), VECT2_COPY, VECT2_DIFF, FloatVect2::x, EnuCoor_f::x, FloatVect2::y, and EnuCoor_f::y.

Referenced by atmega_i2c_cam_ctrl_periodic(), dc_ctrl_parrot_mykonos_periodic(), digital_cam_uart_periodic(), digital_cam_video_periodic(), gpio_cam_ctrl_periodic(), and servo_cam_ctrl_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dc_send_command_common()

void dc_send_command_common ( uint8_t cmd )

Command sending function.

Definition at line 189 of file dc.c.

References extra_pprz_tp.

Referenced by dc_send_command().

Here is the caller graph for this function:

◆ dc_send_shot_position()

void dc_send_shot_position ( void )

Send Down the coordinates of where the photo was taken.

Definition at line 104 of file dc.c.

References course, DC_IMAGE_BUFFER, dc_photo_nr, DefaultChannel, DefaultDevice, extra_pprz_tp, f, gps, GpsState::hmsl, stateGetHorizontalSpeedDir_f(), stateGetHorizontalSpeedNorm_f(), stateGetNedToBodyEulers_f(), stateGetPositionLla_i(), and GpsState::tow.

Referenced by atmega_i2c_cam_ctrl_send(), dc_send_command(), gpio_cam_ctrl_periodic(), and servo_cam_ctrl_periodic().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dc_stop()

uint8_t dc_stop ( void )

Stop dc control.

Sets the dc control in inactive mode, stopping all current actions.

Definition at line 256 of file dc.c.

References dc_autoshoot, DC_AUTOSHOOT_STOP, and dc_info().

Referenced by gvf_nav_survey_polygon_run(), nav_spiral_run(), and nav_survey_polygon_run().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dc_survey()

uint8_t dc_survey	(	float	interval,
		float	x,
		float	y
	)

Sets the dc control in distance mode.

In this mode, the dc control assumes a perfect line formed course since the distance is calculated relative to the first given point of reference. So not usable for circles or other comparable shapes.

The values of 'x' and 'y' are the coordinates of the reference point used for the distance calculations. If 'y' is DC_IGNORE the value of 'x' is interpreted as index of a waypoint declared in the flight plan. If both 'x' and 'y' are DC_IGNORE the current position will be used as reference point.

Parameters

interval	distance between shots in meters
x	x coordinate of reference point (or special DC_IGNORE)
y	y coordinate of reference point (or special DC_IGNORE)