mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-29 12:08:32 -04:00
117 lines
3.3 KiB
C++
117 lines
3.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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#include <AP_Camera.h>
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#include <RC_Channel.h>
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extern RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; // the aux. servo ch. assigned to each function
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extern long wp_distance;
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extern "C" {
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void relay_on();
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void relay_off();
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}
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void
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AP_Camera::servo_pic() // Servo operated camera
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{
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if (g_rc_function[RC_Channel_aux::k_cam_trigger])
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{
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g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_max;
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keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
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}
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}
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void
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AP_Camera::relay_pic() // basic relay activation
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{
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relay_on();
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keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles
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}
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void
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AP_Camera::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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{
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// TODO find a way to do this without using the global parameter g
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// g.channel_throttle.radio_out = g.throttle_min;
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if (thr_pic == 10){
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servo_pic(); // triggering method
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thr_pic = 0;
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// g.channel_throttle.radio_out = g.throttle_cruise;
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}
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thr_pic++;
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}
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void
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AP_Camera::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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{
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// TODO find a way to do this without using the global parameter g
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// g.channel_throttle.radio_out = g.throttle_min;
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if (wp_distance < 3){
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servo_pic(); // triggering method
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// g.channel_throttle.radio_out = g.throttle_cruise;
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}
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}
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void
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AP_Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output.
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{
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// TODO: Assign pin spare pin for output
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digitalWrite(camtrig, HIGH);
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keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles
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}
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// single entry point to take pictures
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void
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AP_Camera::trigger_pic()
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{
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switch (trigger_type)
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{
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case 0:
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servo_pic(); // Servo operated camera
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break;
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case 1:
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relay_pic(); // basic relay activation
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break;
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case 2:
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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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break;
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case 3:
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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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break;
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case 4:
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NPN_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
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break;
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}
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}
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// de-activate the trigger after some delay, but without using a delay() function
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void
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AP_Camera::trigger_pic_cleanup()
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{
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if (keep_cam_trigg_active_cycles)
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{
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keep_cam_trigg_active_cycles --;
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}
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else
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{
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switch (trigger_type)
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{
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case 0:
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case 2:
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case 3:
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if (g_rc_function[RC_Channel_aux::k_cam_trigger])
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{
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g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_out = g_rc_function[RC_Channel_aux::k_cam_trigger]->radio_min;
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}
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break;
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case 1:
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// TODO for some strange reason the function call bellow gives a linker error
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//relay_off();
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PORTL &= ~B00000100; // hardcoded version of relay_off(). Replace with a proper function call later.
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break;
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case 4:
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digitalWrite(camtrig, LOW);
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break;
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}
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}
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}
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