Camera control module for rotorcraft. More...

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

Include dependency graph for rotorcraft_cam.h:

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Go to the source code of this file.

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(_dl_buffer)

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

#define ROTORCRAFT_CAM_DEFAULT_MODE ROTORCRAFT_CAM_MODE_NONE

Default mode is NONE.

Definition at line 55 of file rotorcraft_cam.h.

Referenced by rotorcraft_cam_init().

#define ROTORCRAFT_CAM_MODE_HEADING 2

Definition at line 50 of file rotorcraft_cam.h.

Referenced by rotorcraft_cam_periodic().

#define ROTORCRAFT_CAM_MODE_MANUAL 1

Definition at line 49 of file rotorcraft_cam.h.

Referenced by rotorcraft_cam_periodic().

#define ROTORCRAFT_CAM_MODE_NONE 0

Definition at line 48 of file rotorcraft_cam.h.

Referenced by rotorcraft_cam_periodic(), and rotorcraft_cam_set_mode().

#define ROTORCRAFT_CAM_MODE_WP 3

Definition at line 51 of file rotorcraft_cam.h.

Referenced by rotorcraft_cam_periodic().

#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.

#define ROTORCRAFT_CAM_STICK_PAN_INC RadOfDeg(20.)

Definition at line 116 of file rotorcraft_cam.h.

#define ROTORCRAFT_CAM_STICK_PARSE ( _dl_buffer )

Value:

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