point.c File Reference

Determines camera pan and tilt angles. More...

#include <math.h>
#include "cam.h"
#include "point.h"
#include "autopilot.h"
#include "generated/flight_plan.h"
#include "subsystems/navigation/common_nav.h"
#include "subsystems/gps.h"
#include "math/pprz_geodetic_float.h"
#include "state.h"

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Data Structures
struct	VECTOR
struct	MATRIX

Functions
void	vSubtractVectors (VECTOR *svA, VECTOR svB, VECTOR svC)
void	vMultiplyMatrixByVector (VECTOR *svA, MATRIX smB, VECTOR svC)
void	vPoint (float fPlaneEast, float fPlaneNorth, float fPlaneAltitude, float fRollAngle, float fPitchAngle, float fYawAngle, float fObjectEast, float fObjectNorth, float fAltitude, float *fPan, float *fTilt)

Variables
float	cam_theta
float	cam_phi
bool	heading_positive = 0
float	memory_x
float	memory_y
float	memory_z

Detailed Description

Determines camera pan and tilt angles.

project: Paparazzi description: Determines camera pan and tilt angles from plane's and object's positions and plane's pitch and roll angles. Software might be optimized by removing multiplications with 0, it is left this way for better understandabilty and changeability.

author: Arnold Schroeter, Martin Mueller

hardware:

The camera control is made of normal servos. Usually servos have a turn angle of about 90°. This is changed electrically so that they can do a 180°. It is achieved by adding two serial resistors at both sides of the potentiometer (P1), one for increasing the usable angle (R1) and the other for moving the middle position to a useful angle (R2). Therefore a servo with a 270° potentiometer is needed. Very small and light servos have 180° potentiometers, these do not allow a 180° degrees sweep. Cut the outer two connections between the potentiometer and the board to insert the resistors. The values for R1 and R2 should be found out by testing as there might be serial resistors on the servo board that affect the values. Start with about 1/2 the value of P1 for R1 and change R1 until you get a little more than 180° sweep. Then insert and modify R2 to set neutral back to the middle position of the potentiometer.

                ^
               /
         ----------
 *-------I   /    I-------*
 I       ----------       I
 I         /     P1       I
 I         I              I
 I         I              I
---        I             ---
I I        I             I I
I I        I             I I
I I        I             I I
--- R1     I             --- R2
 I         I              I
 I         I              I

Definition in file point.c.

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Data Structure Documentation

VECTOR

struct VECTOR

Definition at line 84 of file point.c.

Data Fields
float	fx
float	fy
float	fz

MATRIX

struct MATRIX

Definition at line 90 of file point.c.

Data Fields
float	fx1
float	fx2
float	fx3
float	fy1
float	fy2
float	fy3
float	fz1
float	fz2
float	fz3

Function Documentation

vMultiplyMatrixByVector()

static void vMultiplyMatrixByVector	(	VECTOR *	svA,
		MATRIX	smB,
		VECTOR	svC
	)

Definition at line 128 of file point.c.

References VECTOR::fx, MATRIX::fx1, MATRIX::fx2, MATRIX::fx3, VECTOR::fy, MATRIX::fy1, MATRIX::fy2, MATRIX::fy3, VECTOR::fz, MATRIX::fz1, MATRIX::fz2, and MATRIX::fz3.

Referenced by vPoint().

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vPoint()

void vPoint	(	float	fPlaneEast,
		float	fPlaneNorth,
		float	fPlaneAltitude,
		float	fRollAngle,
		float	fPitchAngle,
		float	fYawAngle,
		float	fObjectEast,
		float	fObjectNorth,
		float	fAltitude,
		float *	fPan,
		float *	fTilt
	)

Definition at line 164 of file point.c.

References point::a, AP_MODE_AUTO2, autopilot_get_mode(), cam_lock, cam_mode, CAM_MODE_RC, CAM_MODE_STABILIZED, CAM_MODE_WP_TARGET, CAM_MODE_XY_TARGET, CAM_PAN_MAX, CAM_PAN_MIN, cam_phi, cam_theta, CAM_TILT_MAX, CAM_TILT_MIN, UtmCoor_f::east, FALSE, fbw_state, VECTOR::fx, MATRIX::fx1, MATRIX::fx2, MATRIX::fx3, VECTOR::fy, MATRIX::fy1, MATRIX::fy2, MATRIX::fy3, VECTOR::fz, MATRIX::fz1, MATRIX::fz2, MATRIX::fz3, ground_alt, LlaCoor_f::lat, lla_of_utm_f(), LlaCoor_f::lon, MAX_PPRZ, memory_x, memory_y, memory_z, MIN_PPRZ, nav_utm_east0, nav_utm_north0, nav_utm_zone0, UtmCoor_f::north, PPRZ_MUTEX_LOCK, PPRZ_MUTEX_UNLOCK, RADIO_PITCH, RADIO_ROLL, stateGetPositionUtm_f(), vMultiplyMatrixByVector(), vSubtractVectors(), waypoints, point::x, point::y, and UtmCoor_f::zone.

Referenced by cam_target().

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vSubtractVectors()

static void vSubtractVectors	(	VECTOR *	svA,
		VECTOR	svB,
		VECTOR	svC
	)

Definition at line 116 of file point.c.

References VECTOR::fx, VECTOR::fy, and VECTOR::fz.

Referenced by vPoint().

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Variable Documentation

cam_phi

float cam_phi

Definition at line 97 of file point.c.

Referenced by vPoint().

cam_theta

float cam_theta

Definition at line 96 of file point.c.

Referenced by vPoint().

heading_positive

bool heading_positive = 0

Definition at line 98 of file point.c.

memory_x

float memory_x

Definition at line 99 of file point.c.

Referenced by vPoint().

memory_y

float memory_y

Definition at line 99 of file point.c.

Referenced by vPoint().

memory_z

float memory_z

Definition at line 99 of file point.c.

Referenced by vPoint().