ardupilot/libraries/AP_Camera/AP_Camera.h

111 lines
4.9 KiB
C++

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