mirror of https://github.com/ArduPilot/ardupilot
60 lines
2.5 KiB
C++
60 lines
2.5 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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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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/// @author Amilcar Lucas
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#ifndef AP_CAMERA_H
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#define AP_CAMERA_H
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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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() :
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picture_time (0), // waypoint trigger variable
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wp_distance_min (10),
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keep_cam_trigg_active_cycles (0),
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thr_pic (0), // timer variable for throttle_pic
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camtrig (83) // PK6 chosen as it not near anything so safer for soldering
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{
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}
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// single entry point to take pictures
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void trigger_pic();
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// de-activate the trigger after some delay, but without using a delay() function
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void trigger_pic_cleanup();
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// MAVLink methods
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void configure_msg(mavlink_message_t* msg);
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void control_msg(mavlink_message_t* msg);
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int16_t picture_time; ///< waypoint trigger variable
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int32_t wp_distance_min; ///< take picture if distance to WP is smaller than this
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static const struct AP_Param::GroupInfo var_info[];
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private:
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uint8_t keep_cam_trigg_active_cycles; ///< event loop cycles to keep trigger active
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int16_t thr_pic; ///< timer variable for throttle_pic
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int16_t camtrig; ///< PK6 chosen as it not near anything so safer for soldering
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AP_Int8 trigger_type; ///< 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint, 4=transistor
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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 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.
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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.
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void NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
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};
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#endif /* AP_CAMERA_H */
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