mirror of https://github.com/ArduPilot/ardupilot
111 lines
4.9 KiB
C++
111 lines
4.9 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_Camera.h
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/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Common/AP_Common.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Relay/AP_Relay.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Mission/AP_Mission.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <drivers/drv_hrt.h>
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#endif
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#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
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#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
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#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE AP_CAMERA_TRIGGER_TYPE_SERVO // default is to use servo to trigger camera
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#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)
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#define AP_CAMERA_SERVO_ON_PWM 1300 // default PWM value to move servo to when shutter is activated
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#define AP_CAMERA_SERVO_OFF_PWM 1100 // default PWM value to move servo to when shutter is deactivated
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#define AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN -1 // default is to not use camera feedback pin
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/// @class Camera
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/// @brief Object managing a Photo or video camera
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class AP_Camera {
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public:
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/// Constructor
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///
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AP_Camera(AP_Relay *obj_relay) :
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_trigger_counter(0), // count of number of cycles shutter has been held open
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_image_index(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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_apm_relay = obj_relay;
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}
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// single entry point to take pictures
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// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components
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void trigger_pic(bool send_mavlink_msg);
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// de-activate the trigger after some delay, but without using a delay() function
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// should be called at 50hz from main program
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void trigger_pic_cleanup();
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// MAVLink methods
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void control_msg(mavlink_message_t* msg);
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void send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS &ahrs, const Location ¤t_loc);
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// Command processing
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void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time);
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// handle camera control. Return true if picture was triggered
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bool control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id);
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// set camera trigger distance in a mission
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void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); }
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// Update location of vehicle and return true if a picture should be taken
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bool update_location(const struct Location &loc, const AP_AHRS &ahrs);
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// check if trigger pin has fired
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bool check_trigger_pin(void);
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// return true if we are using a feedback pin
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bool using_feedback_pin(void) const { return _feedback_pin > 0; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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AP_Int8 _trigger_type; // 0:Servo,1:Relay
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AP_Int8 _trigger_duration; // duration in 10ths of a second that the camera shutter is held open
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AP_Int8 _relay_on; // relay value to trigger camera
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AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
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AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
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uint8_t _trigger_counter; // count of number of cycles shutter has been held open
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AP_Relay *_apm_relay; // pointer to relay object from the base class Relay.
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void servo_pic(); // Servo operated camera
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void relay_pic(); // basic relay activation
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void feedback_pin_timer();
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void setup_feedback_callback(void);
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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static void capture_callback(void *context, uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
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#endif
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AP_Float _trigg_dist; // distance between trigger points (meters)
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AP_Int16 _min_interval; // Minimum time between shots required by camera
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AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera
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uint32_t _last_photo_time; // last time a photo was taken
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struct Location _last_location;
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uint16_t _image_index; // number of pictures taken since boot
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// pin number for accurate camera feedback messages
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AP_Int8 _feedback_pin;
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AP_Int8 _feedback_polarity;
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// this is set to 1 when camera trigger pin has fired
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static volatile bool _camera_triggered;
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bool _timer_installed:1;
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uint8_t _last_pin_state;
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};
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