mirror of https://github.com/ArduPilot/ardupilot
57 lines
1.5 KiB
Plaintext
57 lines
1.5 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#if CAMERA == ENABLED
|
|
void waypoint_check()
|
|
{
|
|
if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
|
|
if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
|
|
g.camera.trigger_pic();
|
|
} // DO SOMETHIMNG
|
|
}
|
|
if(g.waypoint_index == 20){ // When here do whats underneath
|
|
g.camera.trigger_pic();
|
|
}
|
|
}
|
|
|
|
void picture_time_check()
|
|
{
|
|
if (g.camera.picture_time == 1){
|
|
if (wp_distance < g.camera.wp_distance_min){
|
|
g.camera.trigger_pic(); // or any camera activation command
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
void egg_waypoint()
|
|
{
|
|
if (g_rc_function[RC_Channel_aux::k_egg_drop])
|
|
{
|
|
float temp = (float)(current_loc.alt - home.alt) * .01;
|
|
float egg_dist = sqrt(temp / 4.903) * (float)g_gps->ground_speed *.01;
|
|
|
|
if(g.waypoint_index == 3){
|
|
if(wp_distance < egg_dist){
|
|
g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 1500 + (-45*10.31);
|
|
}
|
|
}else{
|
|
g_rc_function[RC_Channel_aux::k_egg_drop]->servo_out = 1500 + (45*10.31);
|
|
}
|
|
}
|
|
}
|
|
|
|
#if CAMERA == ENABLED
|
|
void johann_check() // if you aren't Johann it doesn't really matter :D
|
|
{
|
|
APM_RC.OutputCh(CH_7,1500 + (350));
|
|
if(g.waypoint_index > 1 && g.waypoint_index <=18){ // Between these waypoints it will do what you want
|
|
if(wp_distance < g.camera.wp_distance_min){ // Get as close as it can for you
|
|
g.camera.trigger_pic();
|
|
}
|
|
}
|
|
if(g.waypoint_index == 20){ // When here do whats underneath
|
|
g.camera.trigger_pic();
|
|
}
|
|
}
|
|
#endif
|