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Sub: camera is responsible for taking distance-based-images and logging

This commit is contained in:
Peter Barker 2017-07-26 13:53:36 +10:00 committed by Francisco Ferreira
parent 2fb46a67dd
commit b299772a75
5 changed files with 16 additions and 56 deletions
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16
ArduSub/ArduSub.cpp
View File

@ -238,13 +238,7 @@ void Sub::update_mount()
// update camera trigger // update camera trigger
void Sub::update_trigger(void) void Sub::update_trigger(void)
{ {
camera.trigger_pic_cleanup(); camera.update_trigger();
if (camera.check_trigger_pin()) {
gcs().send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
}
} }
#endif #endif
@ -408,15 +402,9 @@ void Sub::update_GPS(void)
// set system time if necessary // set system time if necessary
set_system_time_from_GPS(); set_system_time_from_GPS();
// checks to initialise home and take location based pictures
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
#if CAMERA == ENABLED #if CAMERA == ENABLED
if (camera.update_location(current_loc, sub.ahrs) == true) { camera.update();
do_take_picture();
}
#endif #endif
}
} }
} }

17
ArduSub/GCS_Mavlink.cpp
View File

@ -578,7 +578,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
case MSG_CAMERA_FEEDBACK: case MSG_CAMERA_FEEDBACK:
#if CAMERA == ENABLED #if CAMERA == ENABLED
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK); CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
sub.camera.send_feedback(chan, sub.gps, sub.ahrs, sub.current_loc); sub.camera.send_feedback(chan);
#endif #endif
break; break;
@ -1147,14 +1147,12 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break; break;
case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_DIGICAM_CONTROL:
if (sub.camera.control(packet.param1, sub.camera.control(packet.param1,
packet.param2, packet.param2,
packet.param3, packet.param3,
packet.param4, packet.param4,
packet.param5, packet.param5,
packet.param6)) { packet.param6);
sub.log_picture();
}
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
@ -1566,7 +1564,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
//deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL //deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
case MAVLINK_MSG_ID_DIGICAM_CONTROL: case MAVLINK_MSG_ID_DIGICAM_CONTROL:
sub.camera.control_msg(msg); sub.camera.control_msg(msg);
sub.log_picture();
break; break;
#endif // CAMERA == ENABLED #endif // CAMERA == ENABLED

2
ArduSub/Sub.cpp
View File

@ -62,7 +62,7 @@ Sub::Sub(void) :
mainLoop_count(0), mainLoop_count(0),
ServoRelayEvents(relay), ServoRelayEvents(relay),
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera(&relay), camera(&relay, MASK_LOG_CAMERA, current_loc, gps, ahrs),
#endif #endif
#if MOUNT == ENABLED #if MOUNT == ENABLED
camera_mount(ahrs, current_loc), camera_mount(ahrs, current_loc),

2
ArduSub/Sub.h
View File

@ -689,8 +689,6 @@ private:
#if CAMERA == ENABLED #if CAMERA == ENABLED
void do_digicam_configure(const AP_Mission::Mission_Command& cmd); void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd); void do_digicam_control(const AP_Mission::Mission_Command& cmd);
void do_take_picture();
void log_picture();
void update_trigger(); void update_trigger();
#endif #endif

35
ArduSub/commands_logic.cpp
View File

@ -873,37 +873,14 @@ void Sub::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
// do_digicam_control Send Digicam Control message with the camera library // do_digicam_control Send Digicam Control message with the camera library
void Sub::do_digicam_control(const AP_Mission::Mission_Command& cmd) void Sub::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{ {
if (camera.control(cmd.content.digicam_control.session, camera.control(cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos, cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step, cmd.content.digicam_control.zoom_step,
cmd.content.digicam_control.focus_lock, cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd, cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id)) { cmd.content.digicam_control.cmd_id);
log_picture();
}
} }
// do_take_picture - take a picture with the camera library
void Sub::do_take_picture()
{
camera.trigger_pic(true);
log_picture();
}
// log_picture - log picture taken and send feedback to GCS
void Sub::log_picture()
{
if (!camera.using_feedback_pin()) {
gcs().send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
} else {
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
}
}
}
#endif #endif
// point the camera to a specified angle // point the camera to a specified angle