mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
65 lines
3.8 KiB
XML
65 lines
3.8 KiB
XML
<!DOCTYPE module SYSTEM "module.dtd">
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<module name="rotorcraft_cam" dir="cam_control">
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<doc>
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<description>
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Camera control for rotorcraft.
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The camera is controled by the heading of the vehicle for pan and can be controlled by a servo for tilt if defined.
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Four modes:
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- NONE: no control
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- MANUAL: the servo position is set with PWM
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- HEADING: the servo position and the heading of the rotorcraft are set with angles
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- WP: the camera is tracking a waypoint (Default: CAM)
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If ROTORCRAFT_CAM_SWITCH_GPIO is defined, this gpio is set/cleared to switch the power
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of the camera on in normal modes and disable it when in NONE mode.
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On boards with CAM_SWITCH, ROTORCRAFT_CAM_SWITCH_GPIO can be defined to CAM_SWITCH_GPIO.
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</description>
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<section name="CAM" prefix="ROTORCRAFT_CAM_">
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<define name="DEFAULT_MODE" value="MODE_NONE|MODE_MANUAL|MODE_HEADING|MODE_WP" description="Select default mode (default: MODE_NONE)"/>
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<define name="SWITCH_GPIO" value="gpio" description="GPIO used to turn on/off the camer power, e.g. CAM_SWITCH_GPIO or GPIOB,GPIO22. Nothing set by default."/>
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<define name="CAM_ON" value="gpio_set|gpio_clear" description="Gpio output level to turn camera power power on. gpio_set (default) or gpio_clear"/>
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<define name="CAM_OFF" value="gpio_set|gpio_clear" description="Gpio output level to turn camera power power off. gpio_set or gpio_clear (default) "/>
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<define name="TILT_SERVO" value="name" description="Servo name for tilt control (no tilt control if not defined)"/>
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<define name="TILT_ANGLE_MIN" value="angle" description="Tilt angle corresponding to the servo min position"/>
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<define name="TILT_ANGLE_MAX" value="angle" description="Tilt angle corresponding to the servo max position"/>
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<define name="USE_PAN" value="TRUE|FALSE" description="Enable pan control with heading (default: TRUE)"/>
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<define name="TRACK_WP" value="WP_XXX" description="Enable waypoint tracking mode on the selected WP (default: enable if waypoint CAM is defined)"/>
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<define name="STICK_TILT_INC" value="angle/stick_input" description="Sensitivity of the datalink stick tilt control (default: 10 deg)"/>
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<define name="STICK_PAN_INC" value="angle/stick_input" description="Sensitivity of the datalink stick pan control (default: 20 deg)"/>
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</section>
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</doc>
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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 var="rotorcraft_cam_mode" MIN="0" STEP="1" MAX="3" module="cam_control/rotorcraft_cam" shortname="mode" values="NONE|MAN|HEADING|WP" handler="SetCamMode">
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<strip_button name="CN" value="0" group="cam_mode1"/>
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<strip_button name="CM" value="1" group="cam_mode1"/>
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<strip_button name="CH" value="2" group="cam_mode2"/>
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<strip_button name="CWP" value="3" group="cam_mode2"/>
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<key_press key="F1" value="0"/>
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<key_press key="F2" value="1"/>
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</dl_setting>
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<dl_setting var="rotorcraft_cam_tilt_pwm" min="1000" step="1" max="2500" shortname="tilt_pwm"/>
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<dl_setting var="rotorcraft_cam_tilt" min="-90" step="1" max="0" shortname="tilt" alt_unit="deg" alt_unit_coef="0.0139882">
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<strip_button name="Look Foreward" icon="lookfore.png" value="0" group="cam_look"/>
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<strip_button name="Look Down" icon="lookdown.png" value="-6434" group="cam_look"/>
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</dl_setting>
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<dl_setting var="rotorcraft_cam_pan" MIN="0" STEP="1" MAX="360" shortname="pan" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
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</dl_settings>
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</dl_settings>
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</settings>
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<header>
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<file name="rotorcraft_cam.h"/>
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</header>
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<init fun="rotorcraft_cam_init()"/>
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<periodic fun="rotorcraft_cam_periodic()" freq="10."/>
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<datalink message="ROTORCRAFT_CAM_STICK" fun="ROTORCRAFT_CAM_STICK_PARSE(dl_buffer)"/>
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<makefile>
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<file name="rotorcraft_cam.c"/>
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</makefile>
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</module>
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