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AP_Camera: add three new parameters DURATION, SERVO_ON and SERVO_OFF to allow better shutter control when using servo. 

Removed unused variables to save 4 bytes.
Renamed some variables and functions to make more consistent with existing code base.
This commit is contained in:
rmackay9 2012-12-06 17:46:09 +09:00
parent eac26b2313
commit d11ee04888
2 changed files with 94 additions and 60 deletions
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109
libraries/AP_Camera/AP_Camera.cpp
View File

@ -4,7 +4,7 @@
#include <AP_Relay.h>
#include <../RC_Channel/RC_Channel_aux.h>
extern int32_t wp_distance;
extern int32_t wp_distance; // Note: unfortunately this variable is in meter for ArduPlane and cm for ArduCopter
extern AP_Relay relay;
// ------------------------------
@ -14,9 +14,31 @@ const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
// @Param: TRIGG_TYPE
// @DisplayName: Camera shutter (trigger) type
// @Description: how to trigger the camera to take a picture
// @Values: 0:Servo,1:relay,2:throttle_off_time,3:throttle_off_waypoint,4:transistor
// @Values: 0:Servo,1:Relay,2:Servo and turn off throttle,3:Servo when 3m from waypoint,4:transistor
// @User: Standard
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, trigger_type, 0),
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE),
// @Param: DURATION
// @DisplayName: Duration that shutter is held open
// @Description: How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
// @Range: 0 50
// @User: Standard
AP_GROUPINFO("DURATION", 1, AP_Camera, _trigger_duration, AP_CAMERA_TRIGGER_DEFAULT_DURATION),
// @Param: SERVO_ON
// @DisplayName: Servo ON PWM value
// @Description: PWM value to move servo to when shutter is activated
// @Range: 1000 2000
// @User: Standard
AP_GROUPINFO("SERVO_ON", 2, AP_Camera, _servo_on_pwm, AP_CAMERA_SERVO_ON_PWM),
// @Param: SERVO_OFF
// @DisplayName: Servo OFF PWM value
// @Description: PWM value to move servo to when shutter is deactivated
// @Range: 1000 2000
// @User: Standard
AP_GROUPINFO("SERVO_OFF", 3, AP_Camera, _servo_off_pwm, AP_CAMERA_SERVO_OFF_PWM),
AP_GROUPEND
};
@ -25,9 +47,10 @@ const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
void
AP_Camera::servo_pic()
{
RC_Channel_aux::set_radio_to_max(RC_Channel_aux::k_cam_trigger);
// leave a message that it should be active for two event loop cycles
keep_cam_trigg_active_cycles = 2;
RC_Channel_aux::set_radio(RC_Channel_aux::k_cam_trigger, _servo_on_pwm);
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain(_trigger_duration*5,0,255);
}
/// basic relay activation
@ -35,7 +58,9 @@ void
AP_Camera::relay_pic()
{
relay.on();
keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain(_trigger_duration*5,0,255);
}
/// pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
@ -44,82 +69,78 @@ AP_Camera::throttle_pic()
{
// TODO find a way to do this without using the global parameter g
// g.channel_throttle.radio_out = g.throttle_min;
if (thr_pic == 10) {
if (_thr_pic_counter == 10) {
servo_pic(); // triggering method
thr_pic = 0;
_thr_pic_counter = 0;
// g.channel_throttle.radio_out = g.throttle_cruise;
}
thr_pic++;
_thr_pic_counter++;
}
/// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
/// distance_pic - triggers picture when within 3m of waypoint
void
AP_Camera::distance_pic()
{
// TODO find a way to do this without using the global parameter g
// g.channel_throttle.radio_out = g.throttle_min;
if (wp_distance < 3) {
if (wp_distance < AP_CAMERA_WP_DISTANCE) {
servo_pic(); // triggering method
// g.channel_throttle.radio_out = g.throttle_cruise;
}
}
/// hacked the circuit to run a transistor? use this trigger to send output.
void
AP_Camera::NPN_pic()
AP_Camera::transistor_pic()
{
// TODO: Assign pin spare pin for output
digitalWrite(camtrig, HIGH);
keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
digitalWrite(AP_CAMERA_TRANSISTOR_PIN, HIGH);
// leave a message that it should be active for two event loop cycles
_trigger_counter = 1;
}
/// single entry point to take pictures
void
AP_Camera::trigger_pic()
{
switch (trigger_type)
switch (_trigger_type)
{
case 0:
case AP_CAMERA_TRIGGER_TYPE_SERVO:
servo_pic(); // Servo operated camera
break;
case 1:
case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay_pic(); // basic relay activation
break;
case 2:
case AP_CAMERA_TRIGGER_TYPE_THROTTLE_OFF_TIME:
throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
break;
case 3:
case AP_CAMERA_TRIGGER_TYPE_WP_DISTANCE:
distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
break;
case 4:
NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
transistor_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
break;
}
}
/// de-activate the trigger after some delay, but without using a delay() function
/// should be called at 50hz
void
AP_Camera::trigger_pic_cleanup()
{
if (keep_cam_trigg_active_cycles)
{
keep_cam_trigg_active_cycles--;
}
else
{
switch (trigger_type)
{
case 0:
case 2:
case 3:
RC_Channel_aux::set_radio_to_min(RC_Channel_aux::k_cam_trigger);
break;
case 1:
relay.off();
break;
case 4:
digitalWrite(camtrig, LOW);
break;
if (_trigger_counter) {
_trigger_counter--;
} else {
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
case AP_CAMERA_TRIGGER_TYPE_THROTTLE_OFF_TIME:
case AP_CAMERA_TRIGGER_TYPE_WP_DISTANCE:
RC_Channel_aux::set_radio(RC_Channel_aux::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay.off();
break;
case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
digitalWrite(AP_CAMERA_TRANSISTOR_PIN, LOW);
break;
}
}
}

45
libraries/AP_Camera/AP_Camera.h
View File

@ -10,6 +10,23 @@
#include <AP_Common.h>
#include <GCS_MAVLink.h>
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
#define AP_CAMERA_TRIGGER_TYPE_THROTTLE_OFF_TIME 2
#define AP_CAMERA_TRIGGER_TYPE_WP_DISTANCE 3
#define AP_CAMERA_TRIGGER_TYPE_TRANSISTOR 4
#define AP_CAMERA_TRANSISTOR_PIN 83 // PK6 chosen as it not near anything so safer for soldering
#define AP_CAMERA_WP_DISTANCE 3 // trigger camera shutter when within this many meters of target. Unfortunately this variable is in meter for ArduPlane and cm for ArduCopter so it will not work for ArduCopter
#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE AP_CAMERA_TRIGGER_TYPE_SERVO // default is to use servo to trigger camera
#define AP_CAMERA_TRIGGER_DEFAULT_DURATION 10 // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second)
#define AP_CAMERA_SERVO_ON_PWM 1300 // default PWM value to move servo to when shutter is activated
#define AP_CAMERA_SERVO_OFF_PWM 1100 // default PWM value to move servo to when shutter is deactivated
/// @class Camera
/// @brief Object managing a Photo or video camera
class AP_Camera {
@ -18,11 +35,8 @@ public:
/// Constructor
///
AP_Camera() :
picture_time (0), // waypoint trigger variable
wp_distance_min (10),
keep_cam_trigg_active_cycles (0),
thr_pic (0), // timer variable for throttle_pic
camtrig (83) // PK6 chosen as it not near anything so safer for soldering
_trigger_counter(0), // count of number of cycles shutter has been held open
_thr_pic_counter(0) // timer variable for throttle_pic
{
}
@ -30,29 +44,28 @@ public:
void trigger_pic();
// de-activate the trigger after some delay, but without using a delay() function
// should be called at 50hz from main program
void trigger_pic_cleanup();
// MAVLink methods
void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg);
int16_t picture_time; ///< waypoint trigger variable
int32_t wp_distance_min; ///< take picture if distance to WP is smaller than this
static const struct AP_Param::GroupInfo var_info[];
private:
uint8_t keep_cam_trigg_active_cycles; ///< event loop cycles to keep trigger active
int16_t thr_pic; ///< timer variable for throttle_pic
int16_t camtrig; ///< PK6 chosen as it not near anything so safer for soldering
AP_Int8 trigger_type; ///< 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint, 4=transistor
AP_Int8 _trigger_type; // 0:Servo,1:Relay,2:Servo and turn off throttle,3:Servo when 3m from waypoint,4:transistor
AP_Int8 _trigger_duration; // duration in 10ths of a second that the camera shutter is held open
AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
uint8_t _trigger_counter; // count of number of cycles shutter has been held open
uint8_t _thr_pic_counter; // timer variable for throttle_pic
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
void throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
void distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
void transistor_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
};