aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: add call to send digicam configure messages from a mission item

Browse Source 
Also add log_picture to separate logging and feedback from
the do_take_picture function so that it can be used when pictures
are triggered from a mission command
This commit is contained in:
Jaime Machuca 2015-03-29 11:49:22 -07:00 committed by Randy Mackay
parent ab1cf2261d
commit 5de15464b6
2 changed files with 33 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopter/GCS_Mavlink.pde
View File

@ -1517,7 +1517,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break;
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
do_take_picture();
camera.control_msg(msg);
log_picture();
break;
#endif // CAMERA == ENABLED

34
ArduCopter/commands_logic.pde
View File

@ -20,6 +20,10 @@ static void do_change_speed(const AP_Mission::Mission_Command& cmd);
static void do_set_home(const AP_Mission::Mission_Command& cmd);
static void do_roi(const AP_Mission::Mission_Command& cmd);
static void do_mount_control(const AP_Mission::Mission_Command& cmd);
#if CAMERA == ENABLED
static void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
static void do_digicam_control(const AP_Mission::Mission_Command& cmd);
#endif
#if PARACHUTE == ENABLED
static void do_parachute(const AP_Mission::Mission_Command& cmd);
#endif
@ -148,10 +152,11 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
do_digicam_configure(cmd);
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
do_take_picture();
do_digicam_control(cmd);
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
@ -888,16 +893,39 @@ static void do_roi(const AP_Mission::Mission_Command& cmd)
set_auto_yaw_roi(cmd.content.location);
}
// do_digicam_configure Send Digicam Configure message with the camera library
static void do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.configure_cmd(cmd);
#endif
}
// do_digicam_control Send Digicam Control message with the camera library
static void do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.control_cmd(cmd);
log_picture();
#endif
}
// do_take_picture - take a picture with the camera library
static void do_take_picture()
{
#if CAMERA == ENABLED
camera.trigger_pic();
camera.trigger_pic(true);
log_picture();
#endif
}
// log_picture - log picture taken and send feedback to GCS
static void log_picture()
{
gcs_send_message(MSG_CAMERA_FEEDBACK);
if (should_log(MASK_LOG_CAMERA)) {
DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
}
#endif
}
// point the camera to a specified angle