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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
View File

@ -56,9 +56,26 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @User: Standard
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
};
extern const AP_HAL::HAL& hal;
/// Servo operated camera
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 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)) {
return false;
@ -242,9 +259,21 @@ bool AP_Camera::update_location(const struct Location &loc)
// be called without a new GPS fix
return false;
}
if (get_distance(loc, _last_location) < _trigg_dist) {
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_photo_time = tnow;
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); }
// 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[];
@ -77,6 +77,9 @@ private:
void relay_pic(); // basic relay activation
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;
uint16_t _image_index; // number of pictures taken since boot