#include "float.h"
#include "std.h"
#include "state.h"
#include "generated/airframe.h"
#include "subsystems/gps.h"

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Macros
#define	DC_IGNORE FLT_MAX

#define	DC_IMAGE_BUFFER 65535

#define	dc_Circle(interval) dc_circle(interval, DC_IGNORE)

#define	dc_Survey(interval) dc_survey(interval, DC_IGNORE, DC_IGNORE)

#define	dc_Stop(_) dc_stop()

Enumerations
enum	dc_command_type { DC_GET_STATUS = 0, DC_HOLD = 13, DC_SHOOT = 32, DC_WIDER = 'w', DC_TALLER = 't', DC_UP = 'u', DC_DOWN = 'd', DC_CENTER = 'c', DC_LEFT = 'l', DC_RIGHT = 'r', DC_MENU = 'm', DC_HOME = 'h', DC_PLAY = 'p', DC_ON = 'O', DC_OFF = 'o' }
	Generic Set of Digital Camera Commands. More...

enum	dc_autoshoot_type { DC_AUTOSHOOT_STOP = 0, DC_AUTOSHOOT_PERIODIC = 1, DC_AUTOSHOOT_DISTANCE = 2, DC_AUTOSHOOT_EXT_TRIG = 3, DC_AUTOSHOOT_SURVEY = 4, DC_AUTOSHOOT_CIRCLE = 5 }
	Auotmatic Digital Camera Photo Triggering modes. More...

Functions
void	dc_send_command (uint8_t cmd)
	Send Command To Camera. More...

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

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

void	dc_init (void)
	initialize settings More...

void	dc_periodic (void)
	periodic 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...

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

Variables
uint16_t	dc_photo_nr
	export the number of the last photo More...

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

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

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

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

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

float	dc_gps_y

float	dc_gps_next_dist

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

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

float	dc_circle_max_blocks

float	dc_circle_last_block

float	dc_cam_angle
	camera angle More...

uint8_t	dc_cam_tracing

dc_autoshoot_type	dc_autoshoot

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.h.

Macro Definition Documentation

◆ dc_Circle

#define dc_Circle ( interval ) dc_circle(interval, DC_IGNORE)

Definition at line 191 of file dc.h.

◆ DC_IGNORE

#define DC_IGNORE FLT_MAX

Definition at line 142 of file dc.h.

◆ DC_IMAGE_BUFFER

#define DC_IMAGE_BUFFER 65535

Definition at line 147 of file dc.h.

◆ dc_Stop

#define dc_Stop ( _ ) dc_stop()

Definition at line 227 of file dc.h.

◆ dc_Survey

#define dc_Survey ( interval ) dc_survey(interval, DC_IGNORE, DC_IGNORE)

Definition at line 217 of file dc.h.

Enumeration Type Documentation

◆ dc_autoshoot_type

enum dc_autoshoot_type

Auotmatic Digital Camera Photo Triggering modes.

Enumerator
DC_AUTOSHOOT_STOP
DC_AUTOSHOOT_PERIODIC
DC_AUTOSHOOT_DISTANCE
DC_AUTOSHOOT_EXT_TRIG
DC_AUTOSHOOT_SURVEY
DC_AUTOSHOOT_CIRCLE

Definition at line 127 of file dc.h.

◆ dc_command_type

enum dc_command_type

Generic Set of Digital Camera Commands.

Enumerator
DC_GET_STATUS
DC_HOLD
DC_SHOOT
DC_WIDER
DC_TALLER
DC_UP
DC_DOWN
DC_CENTER
DC_LEFT
DC_RIGHT
DC_MENU
DC_HOME
DC_PLAY
DC_ON
DC_OFF

Definition at line 96 of file dc.h.

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().

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◆ 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.

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◆ 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().

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◆ 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().

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◆ 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().

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◆ dc_send_command()

void dc_send_command ( uint8_t cmd )

Send Command To Camera.

Definition at line 41 of file atmega_i2c_cam_ctrl.c.

References LlaCoor_i::alt, State::alt_agl_f, atmega_i2c_cam_ctrl_send(), dc_shot_union::bin, dc_shot_union::data, DC_OFF, DC_ON, dc_photo_nr, DC_POWER_OFF_DELAY, DC_PUSH, dc_send_command_common(), dc_send_shot_position(), DC_SHOOT, dc_shot_msg, DC_SHUTTER_DELAY, DC_TALLER, dc_timer, DC_WIDER, LlaCoor_i::lat, LlaCoor_i::lon, MORA_SHOOT, MORA_SHOOT_MSG_SIZE, MoraHeader, MoraPutUint8, MoraTrailer, Int32Eulers::phi, POS_BFP_OF_REAL, Int32Eulers::psi, state, stateGetHorizontalSpeedDir_i(), stateGetHorizontalSpeedNorm_i(), stateGetNedToBodyEulers_i(), stateGetPositionLla_i(), Int32Eulers::theta, and video_capture_shoot().

Referenced by atmega_i2c_cam_ctrl_periodic(), dc_periodic(), dc_shoot_rc_periodic(), nav_spiral_run(), nav_survey_poly_run(), and nav_survey_rectangle_rotorcraft_run().

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◆ 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().

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◆ 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().

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◆ 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().

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◆ 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)