ardupilot/libraries/AP_Camera/AP_Camera.h

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2012-06-13 16:00:20 -03:00
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_Camera.h
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
#ifndef AP_CAMERA_H
#define AP_CAMERA_H
#include <AP_Common.h>
#include <GCS_MAVLink.h>
/// @class Camera
/// @brief Object managing a Photo or video camera
class AP_Camera{
public:
/// Constructor
///
AP_Camera() :
trigger_type (0),
picture_time (0), // waypoint trigger variable
thr_pic (0), // timer variable for throttle_pic
camtrig (83), // PK6 chosen as it not near anything so safer for soldering
keep_cam_trigg_active_cycles (0),
wp_distance_min (10)
{}
// single entry point to take pictures
void trigger_pic();
// de-activate the trigger after some delay, but without using a delay() function
void trigger_pic_cleanup();
// MAVLink methods
void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg);
int picture_time; // waypoint trigger variable
long wp_distance_min; // take picture if distance to WP is smaller than this
static const struct AP_Param::GroupInfo var_info[];
private:
uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active
int thr_pic; // timer variable for throttle_pic
int camtrig; // PK6 chosen as it not near anything so safer for soldering
AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
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.
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.
void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
};
#endif /* AP_CAMERA_H */