#include "std.h"
#include "generated/airframe.h"
#include "math/pprz_algebra_int.h"
#include "mcu_periph/gpio.h"

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Macros
#define	ROTORCRAFT_CAM_MODE_NONE 0

#define	ROTORCRAFT_CAM_MODE_MANUAL 1

#define	ROTORCRAFT_CAM_MODE_HEADING 2

#define	ROTORCRAFT_CAM_MODE_WP 3

#define	ROTORCRAFT_CAM_DEFAULT_MODE ROTORCRAFT_CAM_MODE_NONE
	Default mode is NONE. More...

#define	ROTORCRAFT_CAM_USE_TILT 0
	Cam tilt control. More...

#define	ROTORCRAFT_CAM_USE_PAN 1
	Use angles for tilt in HEADING and WP modes. More...

#define	rotorcraft_cam_SetCamMode(_v)
	Set camera mode. More...

#define	ROTORCRAFT_CAM_STICK_TILT_INC RadOfDeg(10.)
	Cam control from datalink message. More...

#define	ROTORCRAFT_CAM_STICK_PAN_INC RadOfDeg(20.)

#define	ROTORCRAFT_CAM_STICK_PARSE(buf)

Functions
void	rotorcraft_cam_init (void)

void	rotorcraft_cam_periodic (void)

void	rotorcraft_cam_set_mode (uint8_t mode)

Variables
uint8_t	rotorcraft_cam_mode
	WP control. More...

int16_t	rotorcraft_cam_tilt

int16_t	rotorcraft_cam_pan

int16_t	rotorcraft_cam_tilt_pwm

Detailed Description

Camera control module for rotorcraft.

The camera is controled by the heading of the vehicle for pan and can be controlled by a servo for tilt if defined.

Four modes:

NONE: no control
MANUAL: the servo position is set with PWM
HEADING: the servo position and the heading of the rotorcraft are set with angles
WP: the camera is tracking a waypoint (Default: CAM)

The CAM_SWITCH can be used to power the camera in normal modes and disable it when in NONE mode

Definition in file rotorcraft_cam.h.

Macro Definition Documentation

◆ ROTORCRAFT_CAM_DEFAULT_MODE

#define ROTORCRAFT_CAM_DEFAULT_MODE ROTORCRAFT_CAM_MODE_NONE

Default mode is NONE.

Definition at line 55 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_MODE_HEADING

#define ROTORCRAFT_CAM_MODE_HEADING 2

Definition at line 50 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_MODE_MANUAL

#define ROTORCRAFT_CAM_MODE_MANUAL 1

Definition at line 49 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_MODE_NONE

#define ROTORCRAFT_CAM_MODE_NONE 0

Definition at line 48 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_MODE_WP

#define ROTORCRAFT_CAM_MODE_WP 3

Definition at line 51 of file rotorcraft_cam.h.

◆ rotorcraft_cam_SetCamMode

#define rotorcraft_cam_SetCamMode ( _v )

Value:

    { \
    rotorcraft_cam_set_mode(_v);        \
  }

Set camera mode.

Camera is powered down in NONE mode if CAM_{ON|OFF} are defined

Definition at line 104 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_STICK_PAN_INC

#define ROTORCRAFT_CAM_STICK_PAN_INC RadOfDeg(20.)

Definition at line 116 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_STICK_PARSE

#define ROTORCRAFT_CAM_STICK_PARSE ( buf )

Value:

    { \
    rotorcraft_cam_tilt += (int16_t)((ANGLE_BFP_OF_REAL(ROTORCRAFT_CAM_STICK_TILT_INC)/127.)*(float)DL_ROTORCRAFT_CAM_STICK_tilt(buf)); \
    rotorcraft_cam_pan += (int16_t)((ANGLE_BFP_OF_REAL(ROTORCRAFT_CAM_STICK_PAN_INC)/127.)*(float)DL_ROTORCRAFT_CAM_STICK_pan(buf)); \
    INT32_COURSE_NORMALIZE(rotorcraft_cam_pan); \
  }

Definition at line 119 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_STICK_TILT_INC

#define ROTORCRAFT_CAM_STICK_TILT_INC RadOfDeg(10.)

Cam control from datalink message.

camera tilt and pan are incremented by STICK_TILT_INC and STICK_PAN_INC when maximum command is received from the stick

Definition at line 113 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_USE_PAN

#define ROTORCRAFT_CAM_USE_PAN 1

Use angles for tilt in HEADING and WP modes.

Cam pan control. By default use pan control (heading)

Definition at line 79 of file rotorcraft_cam.h.

◆ ROTORCRAFT_CAM_USE_TILT

#define ROTORCRAFT_CAM_USE_TILT 0

Cam tilt control.

By default use tilt control if a servo is assigned

Definition at line 64 of file rotorcraft_cam.h.

Function Documentation

◆ rotorcraft_cam_init()

void rotorcraft_cam_init ( void )

Definition at line 109 of file rotorcraft_cam.c.

References DefaultPeriodic, gpio_setup_output(), register_periodic_telemetry(), ROTORCRAFT_CAM_DEFAULT_MODE, rotorcraft_cam_pan, rotorcraft_cam_set_mode(), rotorcraft_cam_tilt, rotorcraft_cam_tilt_pwm, and send_cam().

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◆ rotorcraft_cam_periodic()

void rotorcraft_cam_periodic ( void )

Definition at line 127 of file rotorcraft_cam.c.

References int32_atan2(), INT32_COURSE_NORMALIZE, INT32_POS_FRAC, INT32_VECT2_NORM, INT32_VECT2_RSHIFT, nav_heading, Int32Eulers::psi, rotorcraft_cam_mode, ROTORCRAFT_CAM_MODE_HEADING, ROTORCRAFT_CAM_MODE_MANUAL, ROTORCRAFT_CAM_MODE_NONE, ROTORCRAFT_CAM_MODE_WP, rotorcraft_cam_pan, rotorcraft_cam_tilt, rotorcraft_cam_tilt_pwm, stateGetNedToBodyEulers_i(), stateGetPositionEnu_i(), VECT2_DIFF, waypoints, Int32Vect2::x, Int32Vect2::y, and EnuCoor_i::z.

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◆ rotorcraft_cam_set_mode()

void rotorcraft_cam_set_mode ( uint8_t mode )

Definition at line 97 of file rotorcraft_cam.c.

References mode, rotorcraft_cam_mode, ROTORCRAFT_CAM_MODE_NONE, ROTORCRAFT_CAM_OFF, and ROTORCRAFT_CAM_ON.

Referenced by rotorcraft_cam_init().

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Variable Documentation

◆ rotorcraft_cam_mode

uint8_t rotorcraft_cam_mode

WP control.

By default use WP_CAM waypoint if defined

Definition at line 69 of file rotorcraft_cam.c.

Referenced by rotorcraft_cam_periodic(), and rotorcraft_cam_set_mode().

◆ rotorcraft_cam_pan

int16_t rotorcraft_cam_pan

Definition at line 87 of file rotorcraft_cam.c.

Referenced by rotorcraft_cam_init(), rotorcraft_cam_periodic(), and send_cam().

◆ rotorcraft_cam_tilt

int16_t rotorcraft_cam_tilt

Definition at line 75 of file rotorcraft_cam.c.