paparazzi/conf/modules/bebop_cam.xml

<!DOCTYPE module SYSTEM "module.dtd">

<module name="bebop_cam" dir="../boards/bebop">
  <doc>
    <description>
      Compile and control the settings of the Bebop front and bottom cameras.
    </description>
    <section name="Front camera" prefix="MT9F002_">
      <define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimension allowable with isp"/>
      <define name="OUTPUT_WIDTH" value="640" description="Image horizontal resolution used if MT9F002_RESOLUTION not defined"/>
      <define name="OUTPUT_HEIGHT" value="480" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
      <define name="OFFSET_X" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
      <define name="OFFSET_Y" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
      <define name="ZOOM" value="1" description="Zoom factor of image"/>
      <define name="TARGET_EXPOSURE" value="30" description="Exposure of the front camera of the bebop. Experimental values: Outside: 15; Inside well lit: 30; Inside poorly lit: 60"/>
      <define name="TARGET_FPS" value="30" description="Desired frame rate"/>
      <define name="GAIN_GREEN1" value="2" description="Green gain"/>
      <define name="GAIN_GREEN2" value="2" description="Green gain"/>
      <define name="GAIN_RED" value="1.4" description="Red gain"/>
      <define name="GAIN_BLUE" value="2.7" description="Blue gain"/>
      <define name="FOCAL_X" value="0.48686" description="Normalized focal length in x-direction (fraction of image width)"/>
      <define name="FOCAL_Y" value="0.48908" description="Normalized focal length in y-direction (fraction of image width)"/>
      <define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
      <define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
      <define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
    </section>
    
    <section name="Bottom camera" prefix="MT9V117_">
      <define name="TARGET_FPS" value="30" description="Desired frame rate"/>
      <define name="FOCAL_X" value="0.48686" description="Normalized focal length in x-direction (fraction of image width)"/>
      <define name="FOCAL_Y" value="0.48908" description="Normalized focal length in y-direction (fraction of image width)"/>
      <define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
      <define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
      <define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
    </section>
  </doc>
  
 <!-- ================= Camera runtime settings ================= -->
  <!-- These settings appear in the Paparazzi Ground Control Station
       and allow adjusting camera parameters during flight. -->
  <settings>

    <!-- Top-level group shown in the settings tree -->
	  <dl_settings name="Bebop camera control">

      <!-- Settings for the Bebop FRONT camera (MT9F002 sensor) -->
	    <dl_settings name="Front camera">

        <!-- Digital zoom factor applied by the ISP -->
	      <dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5"
                    shortname="zoom" param="MT9F002_ZOOM"/>

        <!-- Horizontal crop offset relative to image center
             Range [-0.5, 0.5] corresponds to fraction of sensor width -->
	      <dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5"
                    shortname="offset_x" param="MT9F002_OFFSET_X"/>

        <!-- Vertical crop offset relative to image center -->
	      <dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5"
                    shortname="offset_y" param="MT9F002_OFFSET_Y"/>

        <!-- Trigger command to send updated resolution to the camera driver -->
	      <dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1"
                    values="SEND" shortname="update_resolution"
                    module="boards/bebop/mt9f002"
                    handler="setting_update_resolution"/>

        <!-- White balance gains for Bayer channels -->
	      <dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60"
                    shortname="green_1" param="MT9F002_GAIN_GREEN1"/>

	      <dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60"
                    shortname="green_2" param="MT9F002_GAIN_GREEN2"/>

	      <dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60"
                    shortname="blue" param="MT9F002_GAIN_BLUE"/>

	      <dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60"
                    shortname="red" param="MT9F002_GAIN_RED"/>

        <!-- Send updated color gain values to the camera hardware -->
	      <dl_setting var="mt9f002_send_color" min="1" step="1" max="1"
                    values="SEND" shortname="update_color"
                    module="boards/bebop/mt9f002"
                    handler="setting_update_color"/>

        <!-- Target exposure level used by the automatic exposure control -->
	      <dl_setting var="mt9f002.target_exposure" min="0.1" step="0.1" max="80"
                    shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>

        <!-- Apply the new exposure setting to the camera -->
	      <dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1"
                    values="SEND" shortname="update_exposure"
                    module="boards/bebop/mt9f002"
                    handler="setting_update_exposure"/>

  	  </dl_settings> 
    </dl_settings>
  </settings>


  <!-- ================= Module dependencies ================= -->
  <!-- Requires I2C communication for the sensors and the
       video processing thread for image streaming -->
  <dep>
    <depends>i2c,video_thread</depends>
  </dep>


  <!-- ================= Header files ================= -->
  <!-- Camera driver interfaces used by this module -->
  <header>
    <file name="mt9v117.h"/> <!-- bottom camera sensor -->
    <file name="mt9f002.h"/> <!-- front camera sensor -->
  </header>


  <!-- ================= Module initialization ================= -->
  <!-- Called during autopilot startup to initialize sensors -->
  <init fun="mt9v117_init(PTR(mt9v117))"/>
  <init fun="mt9f002_init(PTR(mt9f002))"/>


  <!-- ================= Build rules for autopilot target ================= -->
  <makefile target="ap">

    <!-- Camera driver implementations -->
    <file name="mt9v117.c"/>
    <file name="mt9f002.c"/>

    <!-- Bebop image signal processor (ISP) library -->
    <file name="libisp.c" dir="boards/bebop/isp"/>

    <!-- Size of I2C communication buffer -->
    <define name="I2C_BUF_LEN" value="56"/>

    <!-- Use Bebop I2C bus 0 -->
    <define name="USE_I2C0"/>

    <!-- Also define for test builds -->
    <test>
      <define name="USE_I2C0"/>
    </test>

  </makefile>


  <!-- ================= Build rules for NPS simulator ================= -->
  <makefile target="nps">

    <!-- Simulated camera drivers -->
    <file name="mt9v117_nps.c"/>
    <file name="mt9f002_nps.c"/>

    <!-- Same ISP library used for simulation -->
    <file name="libisp.c" dir="boards/bebop/isp"/>

    <define name="I2C_BUF_LEN" value="56"/>
    <define name="USE_I2C0"/>

  </makefile>
</module>