renamed vision to cam_control

conf/modules/booz_cam.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="vision">
+<module name="booz_cam" dir="cam_control">
   <!-- depend require="booz_pwm|led" -->
   <header>
     <file name="booz_cam.h"/>

conf/modules/cam_point.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="cam_point" dir="vision">
+<module name="cam_point" dir="cam_control">
   <header>
     <file name="cam.h"/>
     <file name="point.h"/>

conf/modules/cam_roll.xml

@@ -1,6 +1,6 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
-<module name="cam_roll" dir="vision">
+<module name="cam_roll" dir="cam_control">
   <header>
     <file name="cam.h"/>
   </header>

conf/settings/booz_cam.xml

@@ -2,7 +2,7 @@
   <dl_settings>
 
     <dl_settings NAME="CAM">
-      <dl_setting var="booz_cam_mode" MIN="0" STEP="1" MAX="3" module="vision/booz_cam" shortname="mode" values="NONE|MAN|HEADING|WP" handler="SetCamMode">
+      <dl_setting var="booz_cam_mode" MIN="0" STEP="1" MAX="3" module="cam_control/booz_cam" shortname="mode" values="NONE|MAN|HEADING|WP" handler="SetCamMode">
         <strip_button name="CN" value="0"/>
         <strip_button name="CM" value="1"/>
         <strip_button name="CH" value="2"/>

conf/settings/cam.xml

@@ -3,7 +3,7 @@
 <settings>
   <dl_settings NAME="control">
     <dl_settings name="cam">
-      <dl_setting MAX="5" MIN="0" STEP="1" module="vision/cam" VAR="cam_mode">
+      <dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
         <strip_button name="AC_TARGET" value="5"/>
         <strip_button name="WP_TARGET" value="4"/>
         <strip_button name="XY_TARGET" value="3"/>
@@ -14,12 +14,12 @@
     </dl_settings>
 
     <dl_settings name="angles">
-      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vision/cam" VAR="cam_tilt_c"/>
+      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_tilt_c"/>
-      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vision/cam" VAR="cam_pan_c"/>
+      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_pan_c"/>
     </dl_settings>
 
     <dl_settings name="target">
-      <dl_setting min="1" max="27" step="1" module="vision/cam" var="cam_target_wp" shortname="wp"/>
+      <dl_setting min="1" max="27" step="1" module="cam_control/cam" var="cam_target_wp" shortname="wp"/>
     </dl_settings>
 
   </dl_settings>

conf/settings/cam_pitch.xml

@@ -3,7 +3,7 @@
 <settings>
   <dl_settings NAME="control">
     <dl_settings name="cam">
-      <dl_setting MAX="5" MIN="0" STEP="1" module="vison/cam" VAR="cam_mode">
+      <dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
 <!--        <strip_button name="TARGET" value="4"/>
         <strip_button name="NADIR" value="2"/>
 -->        <strip_button name="ANGLES" value="1"/>
@@ -11,15 +11,15 @@
     </dl_settings>
 
     <dl_settings name="angles">
-      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vison/cam" VAR="cam_tilt_c">
+      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_tilt_c">
         <strip_button name="Look Foreward" icon="lookfore.png" value="-0.5"/>
         <strip_button name="Look Down" icon="lookdown.png" value="0.5"/>
       </dl_setting>
-      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vison/cam" VAR="cam_pan_c"/>
+      <dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_pan_c"/>
     </dl_settings>
 <!--
     <dl_settings name="target">
-<dl_setting min="1" max="10" step="1" module="vison/cam" var="cam_target_wp" shortname="wp"/>
+<dl_setting min="1" max="10" step="1" module="cam_control/cam" var="cam_target_wp" shortname="wp"/>
     </dl_settings>
 -->
   </dl_settings>

conf/settings/cam_roll.xml

@@ -3,11 +3,11 @@
 <settings>
   <dl_settings>
     <dl_settings NAME="Cam">
-      <dl_setting MAX="45" MIN="-45" STEP="1" VAR="phi_c" module="vision/cam_roll" handler="SetPhiDeg" shortname="phi deg" auto="true">
+      <dl_setting MAX="45" MIN="-45" STEP="1" VAR="phi_c" module="cam_control/cam_roll" handler="SetPhiDeg" shortname="phi deg" auto="true">
       </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_mode" module="vision/cam_roll" shortname="manual - stablzd">
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_mode" module="cam_control/cam_roll" shortname="manual - stablzd">
       </dl_setting>
-      <dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_switch" module="vision/cam_roll" shortname="still - mobile" handler="Switch">
+      <dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_switch" module="cam_control/cam_roll" shortname="still - mobile" handler="Switch">
       </dl_setting>
     </dl_settings>
   </dl_settings>

sw/airborne/modules/cam_control/cam_roll.c

@@ -0,0 +1,79 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+/** \file cam.c
+ *  \brief Pan/Tilt camera library
+ *
+ */
+
+#include <math.h>
+#include "cam.h"
+#include "nav.h"
+#include "autopilot.h"
+#include "flight_plan.h"
+#include "estimator.h"
+#include "inter_mcu.h"
+#include "nav.h"
+
+#define MIN_PPRZ_CAM ((int16_t)(MAX_PPRZ * 0.05))
+#define DELTA_ALPHA 0.2
+
+#define MAX_CAM_ROLL M_PI/2
+
+float cam_roll_phi; /* radian */
+float phi_c; /* radian */
+float theta_c; /* have to be defined for telemetry message */
+
+float target_x, target_y, target_alt;
+
+#ifdef MOBILE_CAM
+
+#define MODE_MANUAL     0
+#define MODE_STABILIZED 1
+
+uint8_t cam_roll_mode;
+bool_t cam_roll_switch;
+
+void cam_init( void ) {
+  cam_roll_switch = 0;
+#if defined VIDEO_SWITCH_PIN && !(defined SITL)
+  IO0DIR |= _BV(VIDEO_SWITCH_PIN);
+  IO0CLR = _BV(VIDEO_SWITCH_PIN);
+#endif
+}
+
+void cam_periodic( void ) {
+  switch (cam_roll_mode) {
+  case MODE_STABILIZED:
+    phi_c = cam_roll_phi + estimator_phi;
+    break;
+  case MODE_MANUAL:
+    phi_c = cam_roll_phi;
+    break;
+  default:
+    phi_c = 0;
+  }
+  ap_state->commands[COMMAND_CAM_ROLL] = TRIM_PPRZ(phi_c * MAX_PPRZ / RadOfDeg(CAM_PHI_MAX_DEG));
+}
+
+#endif // MOBILE_CAM