Disco - Mapping - IMAV2025 (#3560)

* IMAV2025 - Mapping

* Up the resolution to 320x240

* Fix unused

conf/airframes/tudelft/disco.xml

@@ -6,6 +6,24 @@
 
 <airframe name="Disco">
 
+  <description>
+    Parrot Disco Photogrammeyty (with bottom camera recoring)
+    
+    Checklist:
+    - tune your servo deflections per airframe (symmetric)
+    - calibrate your magnetometer for the given battery
+    - remove previous images before flight
+    - trigger snapping images manually or in the flightplan
+    - use Open Drone Map / ODMWeb (or similar)
+    - make a movie with
+
+<!--
+ls *.jpg | xargs -I {} echo "file '{}'" > images.txt
+ffmpeg -f concat -safe 0 -i images.txt -c:v libx264 -crf 18 -profile:v baseline -level 3.0 -pix_fmt yuv420p -movflags faststart ./flight.mp4
+-->
+
+  </description>
+
   <firmware name="fixedwing">
     <configure name="USE_MAGNETOMETER" value="TRUE"/>
     <define name="USE_BAROMETER" value="TRUE"/>
@@ -45,10 +63,27 @@
     <module name="actuators" type="disco"/>
     <module name="control" type="new"/>
     <module name="navigation"/>
+    <module name="geo_mag"/>
     <module name="sonar_bebop">
       <define name="USE_SONAR"/>
       <define name="SENSOR_SYNC_SEND_SONAR"/>
     </module>
+
+    <module name="bebop_cam">
+      <define name="MT9V117_TARGET_FPS" value="4" />
+      <define name="MT9V117_CROP_WIDTH" value="320" />
+      <define name="MT9V117_CROP_HEIGHT" value="240" />
+    </module>
+
+    <module name="video_exif"/>
+
+    <module name="video_capture">
+      <define name="VIDEO_CAPTURE_CAMERA" value="bottom_camera"/>
+      <define name="VIDEO_CAPTURE_PATH" value="/data/ftp/internal_000/images/"/>
+      <define name="VIDEO_CAPTURE_FPS" value="4" />
+    </module>
+
+
   </firmware>
 
   <servos>

conf/userconf/tudelft/conf.xml

@@ -139,7 +139,7 @@
    telemetry="telemetry/default_fixedwing.xml"
    flight_plan="flight_plans/basic.xml"
    settings="settings/fixedwing_basic.xml"
-   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
+   settings_modules="modules/ahrs_float_dcm.xml modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/bebop_cam.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml modules/video_capture.xml"
    gui_color="blue"
   />
   <aircraft

sw/airborne/boards/bebop/mt9v117.c

@@ -44,21 +44,34 @@
 #endif
 
 
+#ifndef MS9v117_CROP_WIDTH
+#define MS9v117_CROP_WIDTH 240
+#endif
+
+#ifndef MS9v117_CROP_HEIGHT
+#define MS9v117_CROP_HEIGHT 240
+#endif
+
+#if MS9v117_CROP_WIDTH > 320 || MS9v117_CROP_HEIGHT > 240
+#error "MT9V117 crop size too large: set up the sensor for higher resolution"
+#endif
+
+
 /* Camera structure */
 struct video_config_t bottom_camera = {
   .output_size = {
-    .w = 240,
+    .w = MS9v117_CROP_WIDTH,
-    .h = 240
+    .h = MS9v117_CROP_HEIGHT
   },
   .sensor_size = {
     .w = 320,
     .h = 240,
   },
   .crop = {
-    .x = 40,
+    .x = ((320 - MS9v117_CROP_WIDTH) / 2),
     .y = 0,
-    .w = 240,
+    .w = MS9v117_CROP_WIDTH,
-    .h = 240
+    .h = MS9v117_CROP_HEIGHT
   },
   .dev_name = "/dev/video0",
   .subdev_name = "/dev/v4l-subdev0",