mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-02 13:27:32 +08:00
renamed vision to cam_control
This commit is contained in:
Felix Ruess
@@ -1,6 +1,6 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="vision">
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<module name="booz_cam" dir="cam_control">
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<!-- depend require="booz_pwm|led" -->
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<header>
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<file name="booz_cam.h"/>
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@@ -1,6 +1,6 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cam_point" dir="vision">
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<module name="cam_point" dir="cam_control">
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<header>
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<file name="cam.h"/>
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<file name="point.h"/>
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@@ -1,6 +1,6 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="cam_roll" dir="vision">
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<module name="cam_roll" dir="cam_control">
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<header>
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<file name="cam.h"/>
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</header>
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@@ -2,7 +2,7 @@
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<dl_settings>
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<dl_settings NAME="CAM">
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<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">
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<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">
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<strip_button name="CN" value="0"/>
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<strip_button name="CM" value="1"/>
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<strip_button name="CH" value="2"/>
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@@ -3,7 +3,7 @@
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<settings>
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<dl_settings NAME="control">
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<dl_settings name="cam">
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<dl_setting MAX="5" MIN="0" STEP="1" module="vision/cam" VAR="cam_mode">
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<dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
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<strip_button name="AC_TARGET" value="5"/>
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<strip_button name="WP_TARGET" value="4"/>
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<strip_button name="XY_TARGET" value="3"/>
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@@ -14,12 +14,12 @@
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</dl_settings>
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<dl_settings name="angles">
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vision/cam" VAR="cam_tilt_c"/>
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vision/cam" VAR="cam_pan_c"/>
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_tilt_c"/>
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_pan_c"/>
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</dl_settings>
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<dl_settings name="target">
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<dl_setting min="1" max="27" step="1" module="vision/cam" var="cam_target_wp" shortname="wp"/>
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<dl_setting min="1" max="27" step="1" module="cam_control/cam" var="cam_target_wp" shortname="wp"/>
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</dl_settings>
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</dl_settings>
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@@ -3,7 +3,7 @@
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<settings>
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<dl_settings NAME="control">
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<dl_settings name="cam">
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<dl_setting MAX="5" MIN="0" STEP="1" module="vison/cam" VAR="cam_mode">
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<dl_setting MAX="5" MIN="0" STEP="1" module="cam_control/cam" VAR="cam_mode">
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<!-- <strip_button name="TARGET" value="4"/>
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<strip_button name="NADIR" value="2"/>
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--> <strip_button name="ANGLES" value="1"/>
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@@ -11,15 +11,15 @@
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</dl_settings>
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<dl_settings name="angles">
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vison/cam" VAR="cam_tilt_c">
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_tilt_c">
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<strip_button name="Look Foreward" icon="lookfore.png" value="-0.5"/>
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<strip_button name="Look Down" icon="lookdown.png" value="0.5"/>
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</dl_setting>
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="vison/cam" VAR="cam_pan_c"/>
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<dl_setting MAX="0.5" MIN="-0.5" STEP="0.1" module="cam_control/cam" VAR="cam_pan_c"/>
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</dl_settings>
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<!--
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<dl_settings name="target">
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<dl_setting min="1" max="10" step="1" module="vison/cam" var="cam_target_wp" shortname="wp"/>
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<dl_setting min="1" max="10" step="1" module="cam_control/cam" var="cam_target_wp" shortname="wp"/>
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</dl_settings>
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-->
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</dl_settings>
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@@ -3,11 +3,11 @@
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<settings>
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<dl_settings>
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<dl_settings NAME="Cam">
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<dl_setting MAX="45" MIN="-45" STEP="1" VAR="phi_c" module="vision/cam_roll" handler="SetPhiDeg" shortname="phi deg" auto="true">
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<dl_setting MAX="45" MIN="-45" STEP="1" VAR="phi_c" module="cam_control/cam_roll" handler="SetPhiDeg" shortname="phi deg" auto="true">
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</dl_setting>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_mode" module="vision/cam_roll" shortname="manual - stablzd">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_mode" module="cam_control/cam_roll" shortname="manual - stablzd">
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</dl_setting>
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_switch" module="vision/cam_roll" shortname="still - mobile" handler="Switch">
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<dl_setting MAX="1" MIN="0" STEP="1" VAR="cam_roll_switch" module="cam_control/cam_roll" shortname="still - mobile" handler="Switch">
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</dl_setting>
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</dl_settings>
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</dl_settings>
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@@ -0,0 +1,79 @@
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/*
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* $Id$
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*
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* Copyright (C) 2003 Pascal Brisset, Antoine Drouin
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/** \file cam.c
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* \brief Pan/Tilt camera library
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*
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*/
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#include <math.h>
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#include "cam.h"
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#include "nav.h"
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#include "autopilot.h"
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#include "flight_plan.h"
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#include "estimator.h"
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#include "inter_mcu.h"
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#include "nav.h"
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#define MIN_PPRZ_CAM ((int16_t)(MAX_PPRZ * 0.05))
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#define DELTA_ALPHA 0.2
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#define MAX_CAM_ROLL M_PI/2
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float cam_roll_phi; /* radian */
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float phi_c; /* radian */
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float theta_c; /* have to be defined for telemetry message */
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float target_x, target_y, target_alt;
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#ifdef MOBILE_CAM
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#define MODE_MANUAL 0
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#define MODE_STABILIZED 1
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uint8_t cam_roll_mode;
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bool_t cam_roll_switch;
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void cam_init( void ) {
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cam_roll_switch = 0;
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#if defined VIDEO_SWITCH_PIN && !(defined SITL)
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IO0DIR |= _BV(VIDEO_SWITCH_PIN);
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IO0CLR = _BV(VIDEO_SWITCH_PIN);
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#endif
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}
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void cam_periodic( void ) {
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switch (cam_roll_mode) {
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case MODE_STABILIZED:
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phi_c = cam_roll_phi + estimator_phi;
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break;
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case MODE_MANUAL:
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phi_c = cam_roll_phi;
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break;
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default:
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phi_c = 0;
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}
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ap_state->commands[COMMAND_CAM_ROLL] = TRIM_PPRZ(phi_c * MAX_PPRZ / RadOfDeg(CAM_PHI_MAX_DEG));
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}
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#endif // MOBILE_CAM
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