Camera control for fixedwing

Module XML file: cam_point.xml

No detailed description...

Example for airframe file

<modules>
  <load name="cam_point.xml"/>
</modules>

Module functions

Init Functions

These initialization functions are called once on startup.

• cam_init()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

• cam_periodic()
  • Running at maximum module frequency.
  • Autorun: LOCK
    Periodic function automatically starts after init and can't be stopped.

Files

Header Files

The following headers are automatically included in modules.h

• cam.h
• point.h

Source Files

• modules/cam_control/cam.c
• modules/cam_control/point.c

Raw cam_point.xml file:

<!DOCTYPE module SYSTEM "module.dtd">

<module name="cam_point" dir="cam_control">
  <doc>
    <description>Camera control for fixedwing</description>
  </doc>
  <settings name="complete">
    <dl_settings NAME="control">
      <dl_settings name="cam">
        <dl_setting MAX="7" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode" values="0FF|ANGLES|NADIR|XY_TARGET|WP_TARGET|AC_TARGET|STABILIZED|RC">
          <strip_button name="AC_TARGET" value="5"/>
          <strip_button name="WP_TARGET" value="4"/>
          <strip_button name="XY_TARGET" value="3"/>
          <strip_button name="NADIR" value="2"/>
          <strip_button name="ANGLES" value="1"/>
          <strip_button name="OFF" value="0"/>
        </dl_setting>
      </dl_settings>
      <dl_settings name="angles">
        <dl_setting MAX="30" MIN="-30" STEP="1" module="cam_control/cam" VAR="cam_tilt_c" unit="rad" alt_unit="deg"/>
        <dl_setting MAX="30" MIN="-30" STEP="1" module="cam_control/cam" VAR="cam_pan_c" unit="rad" alt_unit="deg"/>
      </dl_settings>
      <dl_settings name="target">
        <dl_setting min="1" max="27" step="1" module="cam_control/cam" var="cam_target_wp" shortname="wp"/>
      </dl_settings>
    </dl_settings>
  </settings>
  <settings name="pitch_only">
    <dl_settings NAME="control">
      <dl_settings name="cam">
        <dl_setting MAX="1" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
          <strip_button name="ANGLES" value="1"/>
        </dl_setting>
      </dl_settings>
      <dl_settings name="angles">
        <dl_setting MAX="30" MIN="-30" STEP="1" module="cam_control/cam" VAR="cam_tilt_c" unit="rad" alt_unit="deg">
          <strip_button name="Look Foreward" icon="lookfore.png" value="-0.5"/>
          <strip_button name="Look Down" icon="lookdown.png" value="0.5"/>
        </dl_setting>
      </dl_settings>
    </dl_settings>
  </settings>
  <header>
    <file name="cam.h"/>
    <file name="point.h"/>
  </header>
  <init fun="cam_init()"/>
  <periodic fun="cam_periodic()" />
  <makefile>
    <define name="CAM"/>
    <define name="MOBILE_CAM"/>
    <define name="POINT_CAM"/>
    <file name="cam.c"/>
    <file name="point.c"/>
  </makefile>
</module>