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Digital Camera PUSH/PULL button option, Energy Msg correction

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This commit is contained in:
Christophe De Wagter
2009-11-06 08:42:42 +00:00
parent d012a6076b
commit 14f5a45b70
4 changed files with 83 additions and 12 deletions
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conf/messages.xml
+30 -4
View File
@@ -291,6 +291,29 @@
<field name="w4" type="uint16"/>
</message>
<message name="BARO_BMP85_CALIB" id="38">
<field name="a1" type="int16"/>
<field name="a2" type="int16"/>
<field name="a3" type="int16"/>
<field name="a4" type="uint16"/>
<field name="a5" type="uint16"/>
<field name="a6" type="uint16"/>
<field name="b1" type="int16"/>
<field name="b2" type="int16"/>
<field name="mb" type="int16"/>
<field name="mc" type="int16"/>
<field name="md" type="int16"/>
</message>
<message name="BARO_BMP85" id="39">
<field name="UT" type="int32"/>
<field name="UP" type="int32"/>
<field name="P" type="uint32"/>
<field name="T" type="float"/>
<field name="MSL" type="float"/>
</message>
<message name="WP_MOVED_LLA" id="47">
<field name="wp_id" type="uint8"/>
@@ -412,13 +435,16 @@
<message name="DC_SHOT" id="110">
<field name="photo_nr" type="int16" unit=""></field>
<field name="utm_east" type="int32" unit="cm"></field>
<field name="utm_north" type="int32" unit="cm"></field>
<field name="utm_zone" type="uint8"></field>
<field name="course" type="int16" unit="decideg"></field>
<field name="z" type="float" unit="m"/>
<field name="phi" type="int16" unit="deg"></field>
<field name="theta" type="int16" unit="deg"></field>
<field name="utm_zone" type="uint8"></field>
<field name="phi" type="int16" unit="decideg"></field>
<field name="theta" type="int16" unit="decideg"></field>
<field name="course" type="int16" unit="decideg"></field>
<field name="speed" type="uint16" unit="cm/s"></field>
<field name="itow" type="uint32" unit="ms"></field>
</message>
<message name="TEST_BOARD_RESULTS" ID="111">
sw/airborne/ap_downlink.h
+1 -1
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@@ -176,7 +176,7 @@
#define PERIODIC_SEND_AIRSPEED(_chan) {}
#endif
#define PERIODIC_SEND_ENERGY(_chan) Downlink({ int16_t e = energy; DOWNLINK_SEND_ENERGY( &vsup, &curs, &e); })
#define PERIODIC_SEND_ENERGY(_chan) Downlink({ int16_t e = energy; float vsup = ((float)vsupply) / 10.0f; float curs = ((float) current)/1000.0f; DOWNLINK_SEND_ENERGY(_chan, &vsup, &curs, &e); })
#include "fw_h_ctl_a.h"
sw/airborne/dc.c
+3
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@@ -4,3 +4,6 @@ uint8_t dc_timer;
uint8_t dc_periodic_shutter;
uint8_t dc_shutter_timer;
uint8_t dc_utm_threshold;
uint16_t dc_photo_nr = 0;
uint8_t dc_shoot = 0;
sw/airborne/dc.h
+49 -7
View File
@@ -67,24 +67,38 @@ extern uint8_t dc_shutter_timer;
extern uint8_t dc_utm_threshold;
/* In m. If non zero, automatic shots when greater than utm_north % 100 */
/* Picture Number starting from zero */
extern uint16_t dc_photo_nr;
extern uint8_t dc_shoot;
#ifndef DC_PUSH
#define DC_PUSH LED_ON
#endif
#ifndef DC_RELEASE
#define DC_RELEASE LED_OFF
#endif
#define SHUTTER_DELAY 2 /* 4Hz -> 0.5s */
static inline uint8_t dc_shutter( void ) {
dc_timer = SHUTTER_DELAY;
LED_OFF(DC_SHUTTER_LED);
DC_PUSH(DC_SHUTTER_LED);
int16_t phi = DegOfRad(estimator_phi);
int16_t theta = DegOfRad(estimator_theta);
DOWNLINK_SEND_DC_SHOT(DefaultChannel, &gps_utm_east, &gps_utm_north, &gps_utm_zone, &gps_course, &estimator_z, &phi, &theta);
int16_t phi = DegOfRad(estimator_phi*10.0f);
int16_t theta = DegOfRad(estimator_theta*10.0f);
DOWNLINK_SEND_DC_SHOT(DefaultChannel, &dc_photo_nr, &gps_utm_east, &gps_utm_north, &estimator_z, &gps_utm_zone, &phi, &theta, &gps_course, &gps_gspeed, &gps_itow);
dc_photo_nr++;
return 0;
}
static inline uint8_t dc_zoom( void ) {
dc_timer = SHUTTER_DELAY;
LED_OFF(DC_ZOOM_LED);
#ifdef DC_ZOOM_LED
DC_PUSH(DC_ZOOM_LED);
#endif
return 0;
}
@@ -95,13 +109,41 @@ static inline uint8_t dc_zoom( void ) {
#define dc_init() { /* initialized as leds */ dc_periodic_shutter = 0; } /* Output */
static inline void dc_shoot_on_gps( void ) {
static uint8_t gps_msg_counter = 0;
if (dc_shoot > 0)
{
if (gps_msg_counter == 0)
{
DC_PUSH(DC_SHUTTER_LED);
int16_t phi = DegOfRad(estimator_phi*10.0f);
int16_t theta = DegOfRad(estimator_theta*10.0f);
float gps_z = ((float)gps_alt) / 100.0f;
DOWNLINK_SEND_DC_SHOT(DefaultChannel, &dc_photo_nr, &gps_utm_east, &gps_utm_north, &gps_z, &gps_utm_zone, &phi, &theta, &gps_course, &gps_gspeed, &gps_itow);
dc_photo_nr++;
}
else if (gps_msg_counter == 1)
{
DC_RELEASE(DC_SHUTTER_LED);
}
gps_msg_counter++;
if (gps_msg_counter >= 4)
gps_msg_counter = 0;
}
}
/* 4Hz */
static inline void dc_periodic( void ) {
if (dc_timer) {
dc_timer--;
} else {
LED_ON(DC_SHUTTER_LED);
LED_ON(DC_ZOOM_LED);
DC_RELEASE(DC_SHUTTER_LED);
#ifdef DC_ZOOM_LED
DC_RELEASE(DC_ZOOM_LED);
#endif
}
if (dc_periodic_shutter) {