// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- #include #include #include #include #include extern const AP_HAL::HAL& hal; extern int32_t wp_distance; // Note: unfortunately this variable is in meter for ArduPlane and cm for ArduCopter // ------------------------------ #define CAM_DEBUG DISABLED 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:Servo and turn off throttle,3:Servo when 3m from waypoint,4:transistor // @User: Standard 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 }; /// Servo operated camera void AP_Camera::servo_pic() { 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_int16(_trigger_duration*5,0,255); } /// basic relay activation void AP_Camera::relay_pic() { _apm_relay->on(); // leave a message that it should be active for this many loops (assumes 50hz loops) _trigger_counter = constrain_int16(_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. void 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_counter == 10) { servo_pic(); // triggering method _thr_pic_counter = 0; // g.channel_throttle.radio_out = g.throttle_cruise; } _thr_pic_counter++; } /// distance_pic - triggers picture when within 3m of waypoint void AP_Camera::distance_pic() { if (wp_distance < AP_CAMERA_WP_DISTANCE) { servo_pic(); // triggering method } } /// hacked the circuit to run a transistor? use this trigger to send output. void AP_Camera::transistor_pic() { // TODO: Assign pin spare pin for output hal.gpio->write(AP_CAMERA_TRANSISTOR_PIN,1); // 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) { case AP_CAMERA_TRIGGER_TYPE_SERVO: servo_pic(); // Servo operated camera break; case AP_CAMERA_TRIGGER_TYPE_RELAY: relay_pic(); // basic relay activation break; 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 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 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 (_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; #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 case AP_CAMERA_TRIGGER_TYPE_RELAY: _apm_relay->off(); break; #endif case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR: hal.gpio->write(AP_CAMERA_TRANSISTOR_PIN, 0); break; } } } /// decode MavLink that configures camera void AP_Camera::configure_msg(mavlink_message_t* msg) { __mavlink_digicam_configure_t packet; mavlink_msg_digicam_configure_decode(msg, &packet); if (mavlink_check_target(packet.target_system, packet.target_component)) { // not for us return; } // This values may or not be used by APM // They are bypassed as "echo" to a external specialized board /* * packet.aperture * packet.command_id * packet.engine_cut_off * packet.exposure_type * packet.extra_param * packet.extra_value * packet.iso * packet.mode * packet.shutter_speed */ // echo the message to the ArduCam OSD camera control board // for more info see: http://code.google.com/p/arducam-osd/ // TODO is it connected to MAVLINK_COMM_3 ? mavlink_msg_digicam_configure_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.mode, packet.shutter_speed, packet.aperture, packet.iso, packet.exposure_type, packet.command_id, packet.engine_cut_off, packet.extra_param, packet.extra_value); } /// decode MavLink that controls camera void AP_Camera::control_msg(mavlink_message_t* msg) { __mavlink_digicam_control_t packet; mavlink_msg_digicam_control_decode(msg, &packet); if (mavlink_check_target(packet.target_system, packet.target_component)) { // not for us return; } // This values may or not be used by APM (the shot is) // They are bypassed as "echo" to a external specialized board /* * packet.command_id * packet.extra_param * packet.extra_value * packet.focus_lock * packet.session * packet.shot * packet.zoom_pos * packet.zoom_step */ if (packet.shot) { trigger_pic(); } // echo the message to the ArduCam OSD camera control board // for more info see: http://code.google.com/p/arducam-osd/ // TODO is it connected to MAVLINK_COMM_3 ? mavlink_msg_digicam_control_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.session, packet.zoom_pos, packet.zoom_step, packet.focus_lock, packet.shot, packet.command_id, packet.extra_param, packet.extra_value); }