/// @file AP_Camera.h /// @brief Photo or video camera manager, with EEPROM-backed storage of constants. #pragma once #include "AP_Camera_config.h" #if AP_CAMERA_ENABLED #include #include #include #include #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 #define AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN -1 // default is to not use camera feedback pin /// @class Camera /// @brief Object managing a Photo or video camera class AP_Camera { public: AP_Camera(uint32_t _log_camera_bit) : log_camera_bit(_log_camera_bit) { AP_Param::setup_object_defaults(this, var_info); _singleton = this; } /* Do not allow copies */ CLASS_NO_COPY(AP_Camera); // get singleton instance static AP_Camera *get_singleton() { return _singleton; } // MAVLink methods void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg); void send_feedback(mavlink_channel_t chan) const; // Command processing void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time); // handle camera control void control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id); // set camera trigger distance in a mission void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); } // momentary switch to change camera modes void cam_mode_toggle(); void take_picture(); // start/stop recording video // start_recording should be true to start recording, false to stop recording bool record_video(bool start_recording); // zoom in, out or hold // zoom out = -1, hold = 0, zoom in = 1 bool set_zoom_step(int8_t zoom_step); // focus in, out or hold // focus in = -1, focus hold = 0, focus out = 1 bool set_manual_focus_step(int8_t focus_step); // auto focus bool set_auto_focus(); // Update - to be called periodically @at least 50Hz void update(); static const struct AP_Param::GroupInfo var_info[]; // set if vehicle is in AUTO mode void set_is_auto_mode(bool enable) { _is_in_auto_mode = enable; } enum camera_types { CAMERA_TYPE_STD, CAMERA_TYPE_BMMCC }; enum class CamTrigType { servo = 0, relay = 1, gopro = 2, mount = 3, }; AP_Camera::CamTrigType get_trigger_type(void); private: static AP_Camera *_singleton; void control_msg(const mavlink_message_t &msg); AP_Int8 _trigger_type; // 0:Servo,1:Relay, 2:GoPro in Solo Gimbal AP_Int8 _trigger_duration; // duration in 10ths of a second that the camera shutter is held open AP_Int8 _relay_on; // relay value to trigger camera 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 _trigger_counter_cam_function; // count of number of cycles alternative camera function has been held open AP_Int8 _auto_mode_only; // if 1: trigger by distance only if in AUTO mode. AP_Int8 _type; // Set the type of camera in use, will open additional parameters if set bool _is_in_auto_mode; // true if in AUTO mode void servo_pic(); // Servo operated camera void relay_pic(); // basic relay activation void feedback_pin_timer(); void feedback_pin_isr(uint8_t, bool, uint32_t); void setup_feedback_callback(void); AP_Float _trigg_dist; // distance between trigger points (meters) AP_Int16 _min_interval; // Minimum time between shots required by camera AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera uint32_t _last_photo_time; // last time a photo was taken bool _trigger_pending; // true when we have delayed take_picture struct Location _last_location; uint16_t _image_index; // number of pictures taken since boot // pin number for accurate camera feedback messages AP_Int8 _feedback_pin; AP_Int8 _feedback_polarity; uint32_t _camera_trigger_count; uint32_t _camera_trigger_logged; uint32_t _feedback_trigger_timestamp_us; struct { uint64_t timestamp_us; Location location; // place where most recent image was taken int32_t roll_sensor; int32_t pitch_sensor; int32_t yaw_sensor; uint32_t camera_trigger_logged; // ID sequence number } feedback; void prep_mavlink_msg_camera_feedback(uint64_t timestamp_us); bool _timer_installed; bool _isr_installed; uint8_t _last_pin_state; void log_picture(); // Logging Function void Write_Camera(uint64_t timestamp_us=0); void Write_Trigger(void); void Write_CameraInfo(enum LogMessages msg, uint64_t timestamp_us=0); uint32_t log_camera_bit; // update camera trigger - 50Hz void update_trigger(); // entry point to trip local shutter (e.g. by relay or servo) 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(); // return true if we are using a feedback pin bool using_feedback_pin(void) const { return _feedback_pin > 0; } }; namespace AP { AP_Camera *camera(); }; #endif