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Merge the changes from APM_Camera branch into ArduCopter 

Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
This commit is contained in:
Amilcar Lucas 2012-07-11 00:39:13 +02:00
parent eb647b5320
commit 8e14ebbc10
10 changed files with 133 additions and 91 deletions
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4
ArduBoat/ArduBoat.pde
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@ -16,6 +16,10 @@
#include <APO.h>
#include <AP_AnalogSource.h>
#include <AP_InertialSensor.h>
#include <AP_Camera.h>
#include <AP_Mount.h>
#include <AP_Relay.h>
#include <RC_Channel.h>
// Vehicle Configuration
//#include "BoatGeneric.h"

30
ArduCopter/ArduCopter.pde
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@ -96,6 +96,8 @@ http://code.google.com/p/ardupilot-mega/downloads/list
#include <AverageFilter.h> // Mode Filter from Filter library
#include <AP_LeadFilter.h> // GPS Lead filter
#include <AP_Relay.h> // APM relay
#include <AP_Camera.h> // Photo or video camera
#include <AP_Mount.h> // Camera/Antenna mount
#include <memcheck.h>
// Configuration
@ -345,6 +347,8 @@ static const char* flight_mode_strings[] = {
6 User assignable
7 trainer switch - sets throttle nominal (toggle switch), sets accels to Level (hold > 1 second)
8 TBD
Each Aux channel can be configured to have any of the available auxiliary functions assigned to it.
See libraries/RC_Channel/RC_Channel_aux.h for more information
*/
//Documentation of GLobals:
@ -716,7 +720,8 @@ static int32_t home_to_copter_bearing;
// distance between plane and home in cm
static int32_t home_distance;
// distance between plane and next_WP in cm
static int32_t wp_distance;
// is not static because AP_Camera uses it
int32_t wp_distance;
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
@ -928,6 +933,18 @@ AP_Relay relay;
#endif
// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
// mabe one could use current_loc for lat/lon too and eliminate g_gps alltogether?
AP_Mount camera_mount(&current_loc, g_gps, &ahrs);
#endif
#if CAMERA == ENABLED
//pinMode(camtrig, OUTPUT); // these are free pins PE3(5), PH3(15), PH6(18), PB4(23), PB5(24), PL1(36), PL3(38), PA6(72), PA7(71), PK0(89), PK1(88), PK2(87), PK3(86), PK4(83), PK5(84), PK6(83), PK7(82)
#endif
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
@ -1215,6 +1232,13 @@ static void fifty_hz_loop()
gcs_send_message(MSG_RADIO_OUT);
#endif
#if MOUNT == ENABLED
camera_mount.update_mount_position();
#endif
#if CAMERA == ENABLED
g.camera.trigger_pic_cleanup();
#endif
# if HIL_MODE == HIL_MODE_DISABLED
if (g.log_bitmask & MASK_LOG_ATTITUDE_FAST && motors.armed())
@ -1224,9 +1248,6 @@ static void fifty_hz_loop()
Log_Write_Raw();
#endif
camera_stabilization();
// kick the GCS to process uplink data
gcs_update();
gcs_data_stream_send();
@ -1265,6 +1286,7 @@ static void slow_loop()
// -------------------------------
read_control_switch();
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
// agmatthews - USERHOOKS
#ifdef USERHOOK_SLOWLOOP
USERHOOK_SLOWLOOP

64
ArduCopter/Camera.pde
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@ -1,64 +0,0 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//#if CAMERA_STABILIZER == ENABLED
static void init_camera()
{
APM_RC.enable_out(CH_CAM_PITCH);
APM_RC.enable_out(CH_CAM_ROLL);
// ch 6 high(right) is down.
g.rc_camera_pitch.set_angle(4500);
g.rc_camera_roll.set_angle(4500);
g.rc_camera_roll.set_type(RC_CHANNEL_ANGLE_RAW);
g.rc_camera_pitch.set_type(RC_CHANNEL_ANGLE_RAW);
}
static void
camera_stabilization()
{
int32_t p_sensor_value = g.camera_pitch_continuous ? (ahrs.get_gyro().y * 100) : ahrs.pitch_sensor;
int32_t r_sensor_value = g.camera_roll_continuous ? (ahrs.get_gyro().x * 100) : ahrs.roll_sensor;
// PITCH
// -----
// Allow user to control camera pitch with channel 6 (mixed with pitch DCM)
if(g.radio_tuning == 0) {
g.rc_camera_pitch.set_pwm(g.rc_6.radio_in);
g.rc_camera_pitch.servo_out = g.rc_camera_pitch.control_mix(p_sensor_value);
}else{
// unless channel 6 is already being used for tuning
g.rc_camera_pitch.servo_out = p_sensor_value * -1;
}
g.rc_camera_pitch.servo_out = (float)g.rc_camera_pitch.servo_out * g.camera_pitch_gain;
// limit
//g.rc_camera_pitch.servo_out = constrain(g.rc_camera_pitch.servo_out, -4500, 4500);
// ROLL
// -----
// allow control mixing
/*
g.rc_camera_roll.set_pwm(APM_RC.InputCh(CH_6)); // I'm using CH 6 input here.
g.rc_camera_roll.servo_out = g.rc_camera_roll.control_mix(-ahrs.roll_sensor);
*/
// dont allow control mixing
g.rc_camera_roll.servo_out = (float)-r_sensor_value * g.camera_roll_gain;
// limit
//g.rc_camera_roll.servo_out = constrain(-ahrs.roll_sensor, -4500, 4500);
// Output
// ------
g.rc_camera_pitch.calc_pwm();
g.rc_camera_roll.calc_pwm();
APM_RC.OutputCh(CH_CAM_PITCH, g.rc_camera_pitch.radio_out);
APM_RC.OutputCh(CH_CAM_ROLL , g.rc_camera_roll.radio_out);
//Serial.printf("c:%d\n", g.rc_camera_pitch.radio_out);
}
//#endif

26
ArduCopter/Parameters.h
View File

@ -115,6 +115,11 @@ public:
k_param_tilt_comp, //164
//
// Camera parameters
//
k_param_camera,
//
// 170: Radio settings
//
@ -126,8 +131,8 @@ public:
k_param_rc_6,
k_param_rc_7,
k_param_rc_8,
k_param_rc_camera_pitch,// rc_9
k_param_rc_camera_roll, // rc_10
k_param_rc_9,
k_param_rc_10,
k_param_throttle_min,
k_param_throttle_max,
k_param_throttle_fs_enabled,
@ -273,17 +278,22 @@ public:
RC_Channel heli_servo_1, heli_servo_2, heli_servo_3, heli_servo_4; // servos for swash plate and tail
#endif
// Camera
#if CAMERA == ENABLED
AP_Camera camera;
#endif
// RC channels
RC_Channel rc_1;
RC_Channel rc_2;
RC_Channel rc_3;
RC_Channel rc_4;
RC_Channel rc_5;
RC_Channel rc_6;
RC_Channel rc_7;
RC_Channel rc_8;
RC_Channel rc_camera_pitch;
RC_Channel rc_camera_roll;
RC_Channel_aux rc_5;
RC_Channel_aux rc_6;
RC_Channel_aux rc_7;
RC_Channel_aux rc_8;
RC_Channel_aux rc_9;
RC_Channel_aux rc_10;
AP_Int16 rc_speed; // speed of fast RC Channels in Hz
AP_Float camera_pitch_gain;

36
ArduCopter/Parameters.pde
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@ -202,18 +202,42 @@ static const AP_Param::Info var_info[] PROGMEM = {
GGROUP(heli_servo_4, "HS4_", RC_Channel),
#endif
#if CAMERA == ENABLED
// @Group: CAM_
// @Path: ../libraries/AP_Camera/AP_Camera.cpp
GGROUP(camera, "CAM_", AP_Camera),
#endif
// RC channel
//-----------
GGROUP(rc_1, "RC1_", RC_Channel),
GGROUP(rc_2, "RC2_", RC_Channel),
GGROUP(rc_3, "RC3_", RC_Channel),
GGROUP(rc_4, "RC4_", RC_Channel),
GGROUP(rc_5, "RC5_", RC_Channel),
GGROUP(rc_6, "RC6_", RC_Channel),
GGROUP(rc_7, "RC7_", RC_Channel),
GGROUP(rc_8, "RC8_", RC_Channel),
GGROUP(rc_camera_pitch, "CAM_P_", RC_Channel),
GGROUP(rc_camera_roll, "CAM_R_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_5, "RC5_", RC_Channel_aux),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_6, "RC6_", RC_Channel_aux),
// @Group: RC7_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_7, "RC7_", RC_Channel_aux),
// @Group: RC8_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),
// @Group: RC9_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_9, "RC9_", RC_Channel_aux),
// @Group: RC10_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_10, "RC10_", RC_Channel_aux),
// @Param: RC_SPEED
// @DisplayName: ESC Update Speed

28
ArduCopter/commands_logic.pde
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@ -99,8 +99,36 @@ static void process_now_command()
do_repeat_relay();
break;
#if CAMERA == ENABLED
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
break;
#endif
// Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control
// system to control the vehicle attitude and the attitude of various
// devices such as cameras.
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
case MAV_CMD_DO_SET_ROI: // 201
do_target_yaw();
#if MOUNT == ENABLED
camera_mount.set_roi_cmd();
break;
case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
camera_mount.configure_cmd();
break;
case MAV_CMD_DO_MOUNT_CONTROL: // Mission command to control a camera mount |pitch(deg*100) or lat, depending on mount mode.| roll(deg*100) or lon depending on mount mode| yaw(deg*100) or alt (in cm) depending on mount mode| Empty| Empty| Empty| Empty|
camera_mount.control_cmd();
break;
#endif
}
}

22
ArduCopter/config.h
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@ -482,6 +482,28 @@
#endif
//////////////////////////////////////////////////////////////////////////////
// CAMERA TRIGGER AND CONTROL
//
#ifndef CAMERA
# define CAMERA ENABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// MOUNT (ANTENNA OR CAMERA)
//
#ifndef MOUNT
# define MOUNT ENABLED
#endif
#if defined( __AVR_ATmega1280__ ) && MOUNT == ENABLED
// The small ATmega1280 chip does not have enough memory for camera support
// so disable CLI, this will allow camera support and other improvements to fit.
// This should almost have no side effects, because the APM planner can now do a complete board setup.
#define CLI_ENABLED DISABLED
#endif
//////////////////////////////////////////////////////////////////////////////
// Attitude Control
//

8
ArduCopter/radio.pde
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@ -38,10 +38,7 @@ static void init_rc_in()
g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
//set auxiliary ranges
g.rc_5.set_range(0,1000);
g.rc_6.set_range(0,1000);
g.rc_7.set_range(0,1000);
g.rc_8.set_range(0,1000);
update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8);
}
static void init_rc_out()
@ -57,9 +54,6 @@ static void init_rc_out()
motors.set_min_throttle(g.throttle_min);
motors.set_max_throttle(g.throttle_max);
// this is the camera pitch5 and roll6
APM_RC.OutputCh(CH_CAM_PITCH, 1500);
APM_RC.OutputCh(CH_CAM_ROLL, 1500);
for(byte i = 0; i < 5; i++){
delay(20);

2
ArduCopter/system.pde
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@ -202,8 +202,6 @@ static void init_ardupilot()
init_rc_in(); // sets up rc channels from radio
init_rc_out(); // sets up the timer libs
init_camera();
timer_scheduler.init( &isr_registry );
// initialise the analog port reader

4
ArduPlane/Parameters.pde
View File

@ -476,15 +476,19 @@ static const AP_Param::Info var_info[] PROGMEM = {
GGROUP(channel_pitch, "RC2_", RC_Channel),
GGROUP(channel_throttle, "RC3_", RC_Channel),
GGROUP(channel_rudder, "RC4_", RC_Channel),
// @Group: RC5_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_5, "RC5_", RC_Channel_aux),
// @Group: RC6_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_6, "RC6_", RC_Channel_aux),
// @Group: RC7_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_7, "RC7_", RC_Channel_aux),
// @Group: RC8_
// @Path: ../libraries/RC_Channel/RC_Channel_aux.cpp
GGROUP(rc_8, "RC8_", RC_Channel_aux),