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AntennaTracker: add support for controlling ONVIF camera using lua script

This commit is contained in:
Siddharth Purohit 2021-06-26 19:51:36 +05:30 committed by Andrew Tridgell
parent f6715cdaa0
commit cd63dd1720
2 changed files with 17 additions and 0 deletions
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1
AntennaTracker/Tracker.h
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@ -232,6 +232,7 @@ private:
void tracking_update_pressure(const mavlink_scaled_pressure_t &msg);
void tracking_manual_control(const mavlink_manual_control_t &msg);
void update_armed_disarmed() const;
bool get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const override;
// Arming/Disarming management class
AP_Arming_Tracker arming;

16
AntennaTracker/tracking.cpp
View File

@ -195,3 +195,19 @@ void Tracker::update_armed_disarmed() const
AP_Notify::flags.armed = false;
}
}
/*
Returns the pan and tilt for use by onvif camera in scripting
the output will be mapped to -1..1 from limits specified by PITCH_MIN
and PITCH_MAX for tilt, and YAW_RANGE for pan
*/
bool Tracker::get_pan_tilt_norm(float &pan_norm, float &tilt_norm) const
{
float pitch = nav_status.pitch;
float bearing = nav_status.bearing;
// set tilt value
tilt_norm = (((constrain_float(pitch+g.pitch_trim, g.pitch_min, g.pitch_max) - g.pitch_min)*2.0f)/(g.pitch_max - g.pitch_min)) - 1;
// set yaw value
pan_norm = (wrap_360(bearing+g.yaw_trim)*2.0f/(g.yaw_range)) - 1;
return true;
}