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AP_Camera: added CAM_RELAY_ON parameter

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allows for camera that trigger low
This commit is contained in:
Andrew Tridgell 2015-09-05 13:44:07 +10:00
parent dc4923a88d
commit 745a5998f2
2 changed files with 18 additions and 2 deletions
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19
libraries/AP_Camera/AP_Camera.cpp
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@ -49,6 +49,13 @@ const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
// @Range: 0 1000
AP_GROUPINFO("TRIGG_DIST", 4, AP_Camera, _trigg_dist, 0),
// @Param: RELAY_ON
// @DisplayName: Relay ON value
// @Description: This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
// @Values: 0:Low,1:High
// @User: Standard
AP_GROUPINFO("RELAY_ON", 5, AP_Camera, _relay_on, 1),
AP_GROUPEND
};
@ -67,7 +74,11 @@ AP_Camera::servo_pic()
void
AP_Camera::relay_pic()
{
_apm_relay->on(0);
if (_relay_on) {
_apm_relay->on(0);
} else {
_apm_relay->off(0);
}
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain_int16(_trigger_duration*5,0,255);
@ -117,7 +128,11 @@ AP_Camera::trigger_pic_cleanup()
RC_Channel_aux::set_radio(RC_Channel_aux::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
_apm_relay->off(0);
if (_relay_on) {
_apm_relay->off(0);
} else {
_apm_relay->on(0);
}
break;
}
}

1
libraries/AP_Camera/AP_Camera.h
View File

@ -67,6 +67,7 @@ public:
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