mirror of https://github.com/ArduPilot/ardupilot
76 lines
3.4 KiB
C++
76 lines
3.4 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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#ifndef AP_CAMERA_H
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#define AP_CAMERA_H
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#include <AP_Param.h>
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#include <AP_Common.h>
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#include <GCS_MAVLink.h>
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#include <AP_Relay.h>
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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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/// @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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_thr_pic_counter(0) // timer variable for throttle_pic
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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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void trigger_pic();
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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 configure_msg(mavlink_message_t* msg);
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void control_msg(mavlink_message_t* msg);
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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);
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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,2:Servo and turn off throttle,3:Servo when 3m from waypoint,4:transistor
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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_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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uint8_t _thr_pic_counter; // timer variable for throttle_pic
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AP_Relay *_apm_relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2
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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 transistor_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
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AP_Float _trigg_dist; // distance between trigger points (meters)
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struct Location _last_location;
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};
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#endif /* AP_CAMERA_H */
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