Digital camera shots on a 100m UTM grid

conf/flight_plans/BMSM.xml

@@ -4,6 +4,7 @@
   <header>
 #include "nav_line.h"
 #include "datalink.h"
+#include "dc.h"
 </header>
   <waypoints>
     <waypoint name="HOME" x="0" y="0"/>
@@ -18,7 +19,6 @@
     <waypoint name="_BASELEG" x="168.8" y="-13.8"/>
     <waypoint name="CLIMB" x="-129.9" y="54.6"/>
   </waypoints>
-  <exceptions/>
   <blocks>
     <block name="Wait GPS">
       <set value="1" var="kill_throttle"/>
@@ -57,7 +57,7 @@
       <call fun="nav_line_init()"/>
       <call fun="nav_line(WP_1, WP_2, nav_radius)"/>
     </block>
-    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png">
+    <block name="Survey S1-S2" strip_button="Survey (wp S1-S2)" strip_icon="survey.png" pre_call="dc_shot_on_utm_north_close_to_100m_grid()">
       <survey_rectangle grid="150" wp1="S1" wp2="S2"/>
     </block>
     <block name="Survey E-W" strip_button="Survey E-W">

conf/settings/dc.xml

@@ -10,6 +10,7 @@
        <strip_button name="Zoom" icon="zoom.png" value="1"/>
       </dl_setting>
       <dl_setting MAX="60" MIN="0" STEP="1" VAR="dc_periodic_shutter" module="dc" handler="Periodic" shortname="Periodic"/>
+      <dl_setting MAX="5" MIN="0" STEP="1" VAR="dc_utm_threshold" shortname="UTM%"/>
     </dl_settings>
   </dl_settings>
 </settings>

sw/airborne/dc.c

@@ -3,3 +3,4 @@
 uint8_t dc_timer;
 uint8_t dc_periodic_shutter;
 uint8_t dc_shutter_timer;
+uint8_t dc_utm_threshold;

sw/airborne/dc.h

@@ -18,6 +18,10 @@ extern uint8_t dc_periodic_shutter;
 extern uint8_t dc_shutter_timer;
 /* In s. Related counter */
 
+extern uint8_t dc_utm_threshold;
+/* In m. If non zero, automatic shots when greater than utm_north % 100 */
+
+
 
 #define SHUTTER_DELAY 2  /* 4Hz -> 0.5s */
 
@@ -42,6 +46,7 @@ static inline uint8_t dc_zoom( void ) {
 #define dc_Zoom(_) { dc_zoom(); }
 #define dc_Periodic(s) { dc_periodic_shutter = s; dc_shutter_timer = s; }
 
+
 #define dc_init() { /* initialized as leds */ dc_periodic_shutter = 0; } /* Output */
 
 /* 4Hz */
@@ -66,4 +71,12 @@ static inline void dc_periodic( void ) {
   }
 }
 
+static inline void dc_shot_on_utm_north_close_to_100m_grid( void ) {
+  if (dc_utm_threshold && !dc_timer) {
+    uint32_t dist_to_100m_grid = (gps_utm_north) / 100 % 100;
+    if (dist_to_100m_grid < dc_utm_threshold || 100 - dist_to_100m_grid < dc_utm_threshold)
+      dc_shutter();
+  }
+}
+
 #endif // DC_H