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AP_Camera: Support for camera feedback signal 

Added _feedback_pin;
Added _camera_triggered;
Included FEEDBACK_PIN parameter and his default definition
This commit is contained in:
Dario Lindo Andres 2015-06-07 19:11:30 +02:00 committed by Andrew Tridgell
parent b5cb48ba6d
commit 2f3510023d
2 changed files with 17 additions and 2 deletions
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9
libraries/AP_Camera/AP_Camera.cpp
View File

@ -71,6 +71,13 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Units: Degrees
// @Range: 0 180
AP_GROUPINFO("MAX_ROLL", 7, AP_Camera, _max_roll, 0),
// @Param: FEEDBACK_PIN
// @DisplayName: Camera feedback pin
// @Description: pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. An universal camera hot shoe is needed
// @Values: -1:Disabled, 0-8:APM FeedbackPin, 50-55:PixHawk FeedbackPin
// @User: Standard
AP_GROUPINFO("FEEDBACK_PIN", 8, AP_Camera, _feedback_pin, AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN),
AP_GROUPEND
};
@ -276,4 +283,4 @@ bool AP_Camera::update_location(const struct Location &loc, const AP_AHRS &ahrs)
_last_photo_time = tnow;
return true;
}
}
}

10
libraries/AP_Camera/AP_Camera.h
View File

@ -25,6 +25,8 @@
#define AP_CAMERA_SERVO_ON_PWM 1300 // default PWM value to move servo to when shutter is activated
#define AP_CAMERA_SERVO_OFF_PWM 1100 // default PWM value to move servo to when shutter is deactivated
#define AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN -1 // default is to not use camera feedback pin
/// @class Camera
/// @brief Object managing a Photo or video camera
class AP_Camera {
@ -40,6 +42,12 @@ public:
_apm_relay = obj_relay;
}
// pin number for accurate camera feedback messages
AP_Int8 _feedback_pin;
// this is set to 1 when camera really has been triggered
AP_Int8 _camera_triggered;
// single entry point to take pictures
// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components
void trigger_pic(bool send_mavlink_msg);
@ -85,4 +93,4 @@ private:
};
#endif /* AP_CAMERA_H */
#endif /* AP_CAMERA_H */