diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp index 217bc095f8..ddfaeb8ddb 100644 --- a/libraries/AP_Camera/AP_Camera.cpp +++ b/libraries/AP_Camera/AP_Camera.cpp @@ -12,13 +12,19 @@ extern AP_Relay relay; #define CAM_DEBUG DISABLED const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = { + // @Param: TRIGG_TYPE + // @DisplayName: Camera shutter (trigger) type + // @Description: how to trigger the camera to take a picture + // @Values: 0:Servo,1:relay,2:throttle_off_time,3:throttle_off_waypoint,4:transistor + // @User: Standard AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, trigger_type), AP_GROUPEND }; +/// Servo operated camera void -AP_Camera::servo_pic() // Servo operated camera +AP_Camera::servo_pic() { if (g_rc_function[RC_Channel_aux::k_cam_trigger]) { @@ -27,15 +33,17 @@ AP_Camera::servo_pic() // Servo operated camera } } +/// basic relay activation void -AP_Camera::relay_pic() // basic relay activation +AP_Camera::relay_pic() { relay.on(); keep_cam_trigg_active_cycles = 2; // leave a message that it should be active for two event loop cycles } +/// 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. void -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. +AP_Camera::throttle_pic() { // TODO find a way to do this without using the global parameter g // g.channel_throttle.radio_out = g.throttle_min; @@ -47,8 +55,9 @@ AP_Camera::throttle_pic() // pictures blurry? use this trigger. Turns off the t thr_pic++; } +/// pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle. void -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. +AP_Camera::distance_pic() { // TODO find a way to do this without using the global parameter g // g.channel_throttle.radio_out = g.throttle_min; @@ -58,15 +67,16 @@ AP_Camera::distance_pic() // pictures blurry? use this trigger. Turns off the t } } +/// hacked the circuit to run a transistor? use this trigger to send output. void -AP_Camera::NPN_pic() // hacked the circuit to run a transistor? use this trigger to send output. +AP_Camera::NPN_pic() { // TODO: Assign pin spare pin for output digitalWrite(camtrig, HIGH); keep_cam_trigg_active_cycles = 1; // leave a message that it should be active for two event loop cycles } -// single entry point to take pictures +/// single entry point to take pictures void AP_Camera::trigger_pic() { @@ -90,7 +100,7 @@ AP_Camera::trigger_pic() } } -// de-activate the trigger after some delay, but without using a delay() function +/// de-activate the trigger after some delay, but without using a delay() function void AP_Camera::trigger_pic_cleanup() { @@ -116,6 +126,8 @@ AP_Camera::trigger_pic_cleanup() } } } + +/// decode MavLink that configures camera void AP_Camera::configure_msg(mavlink_message_t* msg) { @@ -143,6 +155,7 @@ AP_Camera::configure_msg(mavlink_message_t* msg) mavlink_msg_digicam_configure_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.mode, packet.shutter_speed, packet.aperture, packet.iso, packet.exposure_type, packet.command_id, packet.engine_cut_off, packet.extra_param, packet.extra_value); } +/// decode MavLink that controls camera void AP_Camera::control_msg(mavlink_message_t* msg) { diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h index ab9a9eaf68..5da02903cd 100644 --- a/libraries/AP_Camera/AP_Camera.h +++ b/libraries/AP_Camera/AP_Camera.h @@ -2,6 +2,7 @@ /// @file AP_Camera.h /// @brief Photo or video camera manager, with EEPROM-backed storage of constants. +/// @author Amilcar Lucas #ifndef AP_CAMERA_H #define AP_CAMERA_H @@ -35,17 +36,17 @@ public: void configure_msg(mavlink_message_t* msg); void control_msg(mavlink_message_t* msg); - int picture_time; // waypoint trigger variable - long wp_distance_min; // take picture if distance to WP is smaller than this + int picture_time; ///< waypoint trigger variable + long wp_distance_min; ///< take picture if distance to WP is smaller than this static const struct AP_Param::GroupInfo var_info[]; private: - uint8_t keep_cam_trigg_active_cycles; // event loop cycles to keep trigger active - int thr_pic; // timer variable for throttle_pic - int camtrig; // PK6 chosen as it not near anything so safer for soldering + uint8_t keep_cam_trigg_active_cycles; ///< event loop cycles to keep trigger active + int thr_pic; ///< timer variable for throttle_pic + int camtrig; ///< PK6 chosen as it not near anything so safer for soldering - AP_Int8 trigger_type; // 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint 4=transistor + AP_Int8 trigger_type; ///< 0=Servo, 1=relay, 2=throttle_off time, 3=throttle_off waypoint, 4=transistor void servo_pic(); // Servo operated camera void relay_pic(); // basic relay activation diff --git a/libraries/RC_Channel/RC_Channel_aux.cpp b/libraries/RC_Channel/RC_Channel_aux.cpp index 1909f8f413..f5d85d3d22 100644 --- a/libraries/RC_Channel/RC_Channel_aux.cpp +++ b/libraries/RC_Channel/RC_Channel_aux.cpp @@ -30,9 +30,10 @@ const AP_Param::GroupInfo RC_Channel_aux::var_info[] PROGMEM = { AP_GROUPEND }; -// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation +/// Global pointer array, indexed by a "RC function enum" and points to the RC channel output assigned to that function/operation RC_Channel_aux* g_rc_function[RC_Channel_aux::k_nr_aux_servo_functions]; +/// saturate to the closest angle limit if outside of min max angle interval int16_t RC_Channel_aux::closest_limit(int16_t angle) { @@ -69,8 +70,8 @@ RC_Channel_aux::closest_limit(int16_t angle) return angle; } -// Gets the RC and integrates and then compares with the servo out angles to limit control input to servo travel. -// That way the user doesn't get lost. Rotationally. +/// Gets the RC and integrates and then compares with the servo out angles to limit control input to servo travel. +/// That way the user doesn't get lost. Rotationally. void RC_Channel_aux::rc_input(float *control_angle, int16_t angle) { @@ -79,8 +80,8 @@ RC_Channel_aux::rc_input(float *control_angle, int16_t angle) } } -// Takes the desired servo angle(deg) and converts to microSeconds for PWM -// Like this: 45 deg = 2000 us ; -45 deg/1000 us. 1000us/(90*100 deg) = 0.1111111111111 +/// Takes the desired servo angle(deg) and converts to microSeconds for PWM +/// Like this: 45 deg = 2000 us ; -45 deg/1000 us. 1000us/(90*100 deg) = 0.1111111111111 void RC_Channel_aux::angle_out(int16_t angle) { @@ -94,7 +95,7 @@ RC_Channel_aux::angle_out(int16_t angle) radio_out = (/*_reverse * */ angle * 0.1111111) + 1500; } -// map a function to a servo channel and output it +/// map a function to a servo channel and output it void RC_Channel_aux::output_ch(unsigned char ch_nr) { @@ -112,10 +113,10 @@ RC_Channel_aux::output_ch(unsigned char ch_nr) _apm_rc->OutputCh(ch_nr, radio_out); } -// Update the g_rc_function array of pointers to rc_x channels -// This is to be done before rc_init so that the channels get correctly initialized. -// It also should be called periodically because the user might change the configuration and -// expects the changes to take effect instantly +/// Update the g_rc_function array of pointers to rc_x channels +/// This is to be done before rc_init so that the channels get correctly initialized. +/// It also should be called periodically because the user might change the configuration and +/// expects the changes to take effect instantly void update_aux_servo_function(RC_Channel_aux* rc_5, RC_Channel_aux* rc_6, RC_Channel_aux* rc_7, RC_Channel_aux* rc_8) { // positions 0..3 of this array never get used, but this is a stack array, so the entire array gets freed at the end of the function diff --git a/libraries/RC_Channel/RC_Channel_aux.h b/libraries/RC_Channel/RC_Channel_aux.h index 08a49a2d97..36b4e71641 100644 --- a/libraries/RC_Channel/RC_Channel_aux.h +++ b/libraries/RC_Channel/RC_Channel_aux.h @@ -32,32 +32,32 @@ public: typedef enum { - k_none = 0, // disabled - k_manual = 1, // manual, just pass-thru the RC in signal - k_flap = 2, // flap - k_flap_auto = 3, // flap automated - k_aileron = 4, // aileron - k_flaperon = 5, // flaperon (flaps and aileron combined, needs two independent servos one for each wing) - k_mount_yaw = 6, // mount yaw (pan) - k_mount_pitch = 7, // mount pitch (tilt) - k_mount_roll = 8, // mount roll - k_mount_open = 9, // mount open (deploy) / close (retract) - k_cam_trigger = 10, // camera trigger - k_egg_drop = 11, // egg drop - k_nr_aux_servo_functions // This must be the last enum value (only add new values _before_ this one) + k_none = 0, ///< disabled + k_manual = 1, ///< manual, just pass-thru the RC in signal + k_flap = 2, ///< flap + k_flap_auto = 3, ///< flap automated + k_aileron = 4, ///< aileron + k_flaperon = 5, ///< flaperon (flaps and aileron combined, needs two independent servos one for each wing) + k_mount_yaw = 6, ///< mount yaw (pan) + k_mount_pitch = 7, ///< mount pitch (tilt) + k_mount_roll = 8, ///< mount roll + k_mount_open = 9, ///< mount open (deploy) / close (retract) + k_cam_trigger = 10, ///< camera trigger + k_egg_drop = 11, ///< egg drop + k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one) } Aux_servo_function_t; - AP_Int8 function; // 0=disabled, 1=manual, 2=flap, 3=flap auto, 4=aileron, 5=flaperon, 6=mount yaw (pan), 7=mount pitch (tilt), 8=mount roll, 9=camera trigger, 10=camera open, 11=egg drop - AP_Int16 angle_min; // min angle limit of actuated surface in 0.01 degree units - AP_Int16 angle_max; // max angle limit of actuated surface in 0.01 degree units + AP_Int8 function; ///< see Aux_servo_function_t enum + AP_Int16 angle_min; ///< min angle limit of actuated surface in 0.01 degree units + AP_Int16 angle_max; ///< max angle limit of actuated surface in 0.01 degree units - int16_t closest_limit(int16_t angle); // saturate to the closest angle limit if outside of min max angle interval + int16_t closest_limit(int16_t angle); void angle_out(int16_t angle); void rc_input(float *control_angle, int16_t angle); - void output_ch(unsigned char ch_nr); // map a function to a servo channel and output it + void output_ch(unsigned char ch_nr); static const struct AP_Param::GroupInfo var_info[]; };