mirror of
https://github.com/paparazzi/paparazzi.git
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Pascal Brisset
76 lines
2.2 KiB
C
76 lines
2.2 KiB
C
/*
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* $Id$
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*
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* Copyright (C) 2005- 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.h
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* \brief Pan/Tilt camera API
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*
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*/
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#ifndef CAM_H
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#define CAM_H
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#include <inttypes.h>
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#include "inter_mcu.h"
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#define CAM_MODE_OFF 0 /* Do nothing */
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#define CAM_MODE_ANGLES 1 /* Input: servo angles */
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#define CAM_MODE_NADIR 2 /* Input: () */
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#define CAM_MODE_XY_TARGET 3 /* Input: target_x, target_y */
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#define CAM_MODE_WP_TARGET 4 /* Input: waypoint no */
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#define CAM_MODE_AC_TARGET 5 /* Input: ac id */
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extern uint8_t cam_mode;
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extern float cam_phi_c, cam_theta_c;
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extern float cam_pan_c, cam_tilt_c;
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/* pan (move left and right), tilt (move up and down) */
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/** Radians, for CAM_MODE_ANGLES mode */
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extern float cam_target_x, cam_target_y;
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/** For CAM_MODE_XY_TARGET mode */
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extern uint8_t cam_target_wp;
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/** For CAM_MODE_WP_TARGET mode */
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extern uint8_t cam_target_ac;
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/** For CAM_MODE_AC_TARGET mode */
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void cam_periodic( void );
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void cam_init( void );
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extern int16_t cam_pan_command;
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#define cam_SetPanCommand(x) { ap_state->commands[COMMAND_CAM_PAN] = cam_pan_command = x;}
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extern int16_t cam_tilt_command;
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#define cam_SetTiltCommand(x) { ap_state->commands[COMMAND_CAM_TILT] = cam_tilt_command = x;}
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#ifdef TEST_CAM
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extern float test_cam_estimator_x;
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extern float test_cam_estimator_y;
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extern float test_cam_estimator_z;
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extern float test_cam_estimator_phi;
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extern float test_cam_estimator_theta;
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extern float test_cam_estimator_hspeed_dir;
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#endif // TEST_CAM
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#endif // CAM_H
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