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ArduPlane: Added precise camera trigger logging 

Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
added support for TRIGGER MSG
This commit is contained in:
Dario Lindo Andres 2015-06-07 19:17:47 +02:00 committed by Andrew Tridgell
parent 1001e53140
commit 9bba55f937
6 changed files with 51 additions and 6 deletions
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14
ArduPlane/ArduPlane.cpp
View File

@ -70,6 +70,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(rpm_update, 10, 200),
SCHED_TASK(airspeed_ratio_update, 1, 1000),
SCHED_TASK(update_mount, 50, 1500),
SCHED_TASK(update_trigger, 1, 1500),
SCHED_TASK(log_perf_info, 0.1, 1000),
SCHED_TASK(compass_save, 0.016, 2500),
SCHED_TASK(update_logging1, 10, 1700),
@ -199,9 +200,22 @@ void Plane::update_mount(void)
#if MOUNT == ENABLED
camera_mount.update();
#endif
}
/*
update camera trigger
*/
void Plane::update_trigger(void)
{
#if CAMERA == ENABLED
camera.trigger_pic_cleanup();
if(camera._camera_triggered == 0 && camera._feedback_pin != -1 && check_digital_pin(camera._feedback_pin) == 0){
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
camera._camera_triggered = 1;
}
#endif
}

2
ArduPlane/Log.cpp
View File

@ -49,6 +49,7 @@ bool Plane::print_log_menu(void)
PLOG(CAMERA);
PLOG(RC);
PLOG(SONAR);
PLOG(TRIGGER);
#undef PLOG
}
@ -128,6 +129,7 @@ int8_t Plane::select_logs(uint8_t argc, const Menu::arg *argv)
TARG(CAMERA);
TARG(RC);
TARG(SONAR);
TARG(TRIGGER);
#undef TARG
}

2
ArduPlane/Plane.h
View File

@ -906,6 +906,7 @@ private:
void update_notify();
void resetPerfData(void);
void check_usb_mux(void);
uint8_t check_digital_pin(uint8_t pin);
void print_comma(void);
void servo_write(uint8_t ch, uint16_t pwm);
bool should_log(uint32_t mask);
@ -933,6 +934,7 @@ private:
void one_second_loop(void);
void airspeed_ratio_update(void);
void update_mount(void);
void update_trigger(void);
void log_perf_info(void);
void compass_save(void);
void update_logging1(void);

14
ArduPlane/commands_logic.cpp
View File

@ -967,9 +967,17 @@ void Plane::do_parachute(const AP_Mission::Mission_Command& cmd)
void Plane::log_picture()
{
#if CAMERA == ENABLED
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
if (camera._feedback_pin == -1 ){
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
}
else {
camera._camera_triggered = 0;
if (should_log(MASK_LOG_TRIGGER)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
}
#endif
}

1
ArduPlane/defines.h
View File

@ -140,6 +140,7 @@ enum log_messages {
#define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_TRIGGER (1UL<<20)
// Waypoint Modes
// ----------------

18
ArduPlane/system.cpp
View File

@ -716,6 +716,24 @@ void Plane::servo_write(uint8_t ch, uint16_t pwm)
hal.rcout->write(ch, pwm);
}
/*
check a digitial pin for high,low (1/0)
*/
uint8_t Plane::check_digital_pin(uint8_t pin)
{
int8_t dpin = hal.gpio->analogPinToDigitalPin(pin);
if (dpin == -1) {
return 0;
}
// ensure we are in input mode
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
// enable pullup
hal.gpio->write(dpin, 1);
return hal.gpio->read(dpin);
}
/*
should we log a message type now?
*/