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AP_Camera: Camera options for better camera control

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All on one because they would not pass autotest if split up.
This commit is contained in:
Andre Kjellstrup 2015-12-18 18:16:11 +11:00 committed by Andrew Tridgell
parent b0f58248a5
commit 6da7e76990
2 changed files with 37 additions and 5 deletions
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31
libraries/AP_Camera/AP_Camera.cpp
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@ -56,9 +56,26 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("RELAY_ON", 5, AP_Camera, _relay_on, 1), AP_GROUPINFO("RELAY_ON", 5, AP_Camera, _relay_on, 1),
// @Param: MIN_INTERVAL
// @DisplayName: Minimum time between photos
// @Description: Postpone shooting if previous picture was taken less than preset time(ms) ago.
// @User: Standard
// @Units: milliseconds
// @Range: 0 10000
AP_GROUPINFO("MIN_INTERVAL", 6, AP_Camera, _min_interval, 0),
// @Param: MAX_ROLL
// @DisplayName: Maximum photo roll angle.
// @Description: Postpone shooting if roll is greater than limit. (0=Disable, will shoot regardless of roll).
// @User: Standard
// @Units: Degrees
// @Range: 0 180
AP_GROUPINFO("MAX_ROLL", 7, AP_Camera, _max_roll, 0),
AP_GROUPEND AP_GROUPEND
}; };
extern const AP_HAL::HAL& hal;
/// Servo operated camera /// Servo operated camera
void void
@ -228,7 +245,7 @@ void AP_Camera::send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS
The caller is responsible for taking the picture based on the return value of this function. The caller is responsible for taking the picture based on the return value of this function.
The caller is also responsible for logging the details about the photo The caller is also responsible for logging the details about the photo
*/ */
bool AP_Camera::update_location(const struct Location &loc) bool AP_Camera::update_location(const struct Location &loc, const AP_AHRS &ahrs)
{ {
if (is_zero(_trigg_dist)) { if (is_zero(_trigg_dist)) {
return false; return false;
@ -242,9 +259,21 @@ bool AP_Camera::update_location(const struct Location &loc)
// be called without a new GPS fix // be called without a new GPS fix
return false; return false;
} }
if (get_distance(loc, _last_location) < _trigg_dist) { if (get_distance(loc, _last_location) < _trigg_dist) {
return false; return false;
} }
if (_max_roll > 0 && labs(ahrs.roll_sensor/100) > _max_roll) {
return false;
}
uint32_t tnow = AP_HAL::millis();
if (tnow - _last_photo_time < (unsigned) _min_interval) {
return false;
} else {
_last_location = loc; _last_location = loc;
_last_photo_time = tnow;
return true; return true;
}
} }

5
libraries/AP_Camera/AP_Camera.h
View File

@ -60,7 +60,7 @@ public:
void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); } void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); }
// Update location of vehicle and return true if a picture should be taken // Update location of vehicle and return true if a picture should be taken
bool update_location(const struct Location &loc); bool update_location(const struct Location &loc, const AP_AHRS &ahrs);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -77,6 +77,9 @@ private:
void relay_pic(); // basic relay activation void relay_pic(); // basic relay activation
AP_Float _trigg_dist; // distance between trigger points (meters) AP_Float _trigg_dist; // distance between trigger points (meters)
AP_Int16 _min_interval; // Minimum time between shots required by camera
AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera
uint32_t _last_photo_time; // last time a photo was taken
struct Location _last_location; struct Location _last_location;
uint16_t _image_index; // number of pictures taken since boot uint16_t _image_index; // number of pictures taken since boot