ardupilot/libraries/AP_Camera/AP_Camera.h

// -*- 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.
/// @author Amilcar Lucas

#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 */