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APMrover2: Added precise camera trigger logging

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included update_trigger function
added camera trigger precise time mark
detect camera feedback pin status
added support for TRIGGER MSG
corrected according to defines.h
This commit is contained in:
Dario Lindo Andres 2015-06-07 19:22:06 +02:00 committed by Andrew Tridgell
parent 90bf13279b
commit f731a0dc53
6 changed files with 38 additions and 11 deletions
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15
APMrover2/APMrover2.cpp
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@ -68,6 +68,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK(update_events, 50, 1000), SCHED_TASK(update_events, 50, 1000),
SCHED_TASK(check_usb_mux, 3, 1000), SCHED_TASK(check_usb_mux, 3, 1000),
SCHED_TASK(mount_update, 50, 600), SCHED_TASK(mount_update, 50, 600),
SCHED_TASK(update_trigger, 1, 600),
SCHED_TASK(gcs_failsafe_check, 10, 600), SCHED_TASK(gcs_failsafe_check, 10, 600),
SCHED_TASK(compass_accumulate, 50, 900), SCHED_TASK(compass_accumulate, 50, 900),
SCHED_TASK(update_notify, 50, 300), SCHED_TASK(update_notify, 50, 300),
@ -178,8 +179,22 @@ void Rover::mount_update(void)
#if MOUNT == ENABLED #if MOUNT == ENABLED
camera_mount.update(); camera_mount.update();
#endif #endif
}
/*
update camera trigger - 50Hz
*/
void Rover::update_trigger(void)
{
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.trigger_pic_cleanup(); 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 #endif
} }

3
APMrover2/Log.cpp
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@ -48,6 +48,7 @@ bool Rover::print_log_menu(void)
PLOG(COMPASS); PLOG(COMPASS);
PLOG(CAMERA); PLOG(CAMERA);
PLOG(STEERING); PLOG(STEERING);
PLOG(TRIGGER);
#undef PLOG #undef PLOG
} }
@ -127,6 +128,7 @@ int8_t Rover::select_logs(uint8_t argc, const Menu::arg *argv)
TARG(COMPASS); TARG(COMPASS);
TARG(CAMERA); TARG(CAMERA);
TARG(STEERING); TARG(STEERING);
TARG(TRIGGER);
#undef TARG #undef TARG
} }
@ -476,4 +478,3 @@ void Rover::start_logging() {}
void Rover::Log_Write_RC(void) {} void Rover::Log_Write_RC(void) {}
#endif // LOGGING_ENABLED #endif // LOGGING_ENABLED

1
APMrover2/Rover.h
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@ -380,6 +380,7 @@ private:
// private member functions // private member functions
void ahrs_update(); void ahrs_update();
void mount_update(void); void mount_update(void);
void update_trigger(void);
void update_alt(); void update_alt();
void gcs_failsafe_check(void); void gcs_failsafe_check(void);
void compass_accumulate(void); void compass_accumulate(void);

14
APMrover2/commands_logic.cpp
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@ -370,8 +370,16 @@ void Rover::do_take_picture()
// log_picture - log picture taken and send feedback to GCS // log_picture - log picture taken and send feedback to GCS
void Rover::log_picture() void Rover::log_picture()
{ {
gcs_send_message(MSG_CAMERA_FEEDBACK); if (camera._feedback_pin == -1 ){
if (should_log(MASK_LOG_CAMERA)) { gcs_send_message(MSG_CAMERA_FEEDBACK);
DataFlash.Log_Write_Camera(ahrs, gps, current_loc); 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);
}
} }
} }

2
APMrover2/defines.h
View File

@ -92,6 +92,8 @@ enum mode {
#define MASK_LOG_ARM_DISARM (1<<15) #define MASK_LOG_ARM_DISARM (1<<15)
#define MASK_LOG_WHEN_DISARMED (1UL<<16) #define MASK_LOG_WHEN_DISARMED (1UL<<16)
#define MASK_LOG_IMU_RAW (1UL<<19) #define MASK_LOG_IMU_RAW (1UL<<19)
#define MASK_LOG_TRIGGER (1UL<<20)
// Waypoint Modes // Waypoint Modes
// ---------------- // ----------------