mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.8 KiB
C
72 lines
2.8 KiB
C
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file Camera.h
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/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
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#ifndef CAMERA_H
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#define CAMERA_H
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#include <AP_Common.h>
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/// @class Camera
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/// @brief Object managing a Photo or video camera
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class Camera{
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protected:
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AP_Var_group _group; // must be before all vars to keep ctor init order correct
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public:
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/// Constructor
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///
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/// @param key EEPROM storage key for the camera configuration parameters.
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/// @param name Optional name for the group.
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///
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Camera(AP_Var::Key key, const prog_char_t *name) :
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_group(key, name),
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mode (&_group, 0, 0, name ? PSTR("MODE") : 0), // suppress name if group has no name
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trigger_type(&_group, 1, 0, name ? PSTR("TRIGGER_MODE") : 0),
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picture_time (0), // waypoint trigger variable
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thr_pic (0), // timer variable for throttle_pic
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camtrig (83), // PK6 chosen as it not near anything so safer for soldering
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// camera_target (home), // use test target for now
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gimbal_type (1),
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keep_cam_trigg_active_cycles (0)
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{}
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// move the camera depending on the camera mode
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void move();
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// single entry point to take pictures
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void trigger_pic();
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// de-activate the trigger after some delay, but without using a delay() function
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void trigger_pic_cleanup();
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// call this from time to time to make sure the correct gimbal type gets choosen
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void update_camera_gimbal_type();
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// set camera orientation target
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void set_target(struct Location target);
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int picture_time; // waypoint trigger variable
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private:
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uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
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struct Location camera_target; // point of interest for the camera to track
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// struct Location GPS_mark; // GPS POI for position based triggering
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int thr_pic; // timer variable for throttle_pic
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int camtrig; // PK6 chosen as it not near anything so safer for soldering
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AP_Int8 mode; // 0=do nothing, 1=stabilize, 2=track target, 3=manual, 4=simple stabilize test
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AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
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uint8_t gimbal_type; // 0=pitch & roll (tilt & roll), 1=yaw & pitch(pan & tilt), 2=pitch, roll & yaw (to be added)
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void servo_pic(); // Servo operated camera
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void relay_pic(); // basic relay activation
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void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
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void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
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void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
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};
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#endif /* CAMERA_H */
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