#include <AP_Camera.h>

Collaboration diagram for AP_Camera:

Public Member Functions
	AP_Camera (AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_AHRS &_ahrs)

	AP_Camera (const AP_Camera &other)=delete

AP_Camera &	operator= (const AP_Camera &)=delete

void	control_msg (const mavlink_message_t *msg)
	decode deprecated MavLink message that controls camera. More...

void	send_feedback (mavlink_channel_t chan)

void	configure (float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time)

void	control (float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)

void	set_trigger_distance (uint32_t distance_m)

void	take_picture ()

void	update ()

void	update_trigger ()

void	set_is_auto_mode (bool enable)

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Member Functions
void	servo_pic ()
	Servo operated camera. More...

void	relay_pic ()
	basic relay activation More...

void	feedback_pin_timer ()

void	setup_feedback_callback (void)

void	log_picture ()

void	trigger_pic ()

void	trigger_pic_cleanup ()

bool	check_trigger_pin (void)

bool	using_feedback_pin (void) const

Static Private Member Functions
static void	capture_callback (void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)

Private Attributes
AP_Int8	_trigger_type

AP_Int8	_trigger_duration

AP_Int8	_relay_on

AP_Int16	_servo_on_pwm

AP_Int16	_servo_off_pwm

uint8_t	_trigger_counter

AP_Relay *	_apm_relay

AP_Int8	_auto_mode_only

bool	_is_in_auto_mode

AP_Float	_trigg_dist

AP_Int16	_min_interval

AP_Int16	_max_roll

uint32_t	_last_photo_time

struct Location	_last_location

uint16_t	_image_index

uint16_t	_feedback_events

AP_Int8	_feedback_pin

AP_Int8	_feedback_polarity

bool	_timer_installed:1

uint8_t	_last_pin_state

uint32_t	log_camera_bit

const struct Location &	current_loc

const AP_AHRS &	ahrs

Static Private Attributes
static volatile bool	_camera_triggered

Detailed Description

Definition at line 31 of file AP_Camera.h.

Constructor & Destructor Documentation

◆ AP_Camera() [1/2]

AP_Camera::AP_Camera	(	AP_Relay *	obj_relay,
		uint32_t	_log_camera_bit,
		const struct Location &	_loc,
		const AP_AHRS &	_ahrs
	)

inline

Definition at line 34 of file AP_Camera.h.

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◆ AP_Camera() [2/2]

AP_Camera::AP_Camera ( const AP_Camera & other )

delete

Member Function Documentation

◆ capture_callback()

void AP_Camera::capture_callback	(	void *	context,
		uint32_t	chan_index,
		hrt_abstime	edge_time,
		uint32_t	edge_state,
		uint32_t	overflow
	)

staticprivate

Definition at line 349 of file AP_Camera.cpp.

Referenced by setup_feedback_callback().

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◆ check_trigger_pin()

bool AP_Camera::check_trigger_pin ( void )

private

Definition at line 336 of file AP_Camera.cpp.

Referenced by update_trigger().

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◆ configure()

void AP_Camera::configure	(	float	shooting_mode,
		float	shutter_speed,
		float	aperture,
		float	ISO,
		float	exposure_type,
		float	cmd_id,
		float	engine_cutoff_time
	)

Definition at line 189 of file AP_Camera.cpp.

Referenced by AP_Camera(), and GCS_MAVLINK::handle_command_camera().

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◆ control()

void AP_Camera::control	(	float	session,
		float	zoom_pos,
		float	zoom_step,
		float	focus_lock,
		float	shooting_cmd,
		float	cmd_id
	)

Definition at line 214 of file AP_Camera.cpp.

Referenced by AP_Camera(), control_msg(), and GCS_MAVLINK::handle_command_camera().

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◆ control_msg()

void AP_Camera::control_msg ( const mavlink_message_t * msg )

decode deprecated MavLink message that controls camera.

Definition at line 181 of file AP_Camera.cpp.

Referenced by AP_Camera(), and GCS_MAVLINK::handle_common_camera_message().

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◆ feedback_pin_timer()

void AP_Camera::feedback_pin_timer ( void )

private

Definition at line 312 of file AP_Camera.cpp.

Referenced by setup_feedback_callback().

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◆ log_picture()

void AP_Camera::log_picture ( )

private

Definition at line 400 of file AP_Camera.cpp.

Referenced by trigger_pic().

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◆ operator=()

AP_Camera& AP_Camera::operator= ( const AP_Camera & )

delete

Referenced by AP_Camera().

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◆ relay_pic()

void AP_Camera::relay_pic ( )

private

basic relay activation

Definition at line 124 of file AP_Camera.cpp.

Referenced by trigger_pic().

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◆ send_feedback()

void AP_Camera::send_feedback ( mavlink_channel_t chan )

Definition at line 243 of file AP_Camera.cpp.

Referenced by AP_Camera(), and GCS_MAVLINK::try_send_camera_message().

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◆ servo_pic()

void AP_Camera::servo_pic ( )

private

Servo operated camera.

Definition at line 114 of file AP_Camera.cpp.

Referenced by trigger_pic().

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◆ set_is_auto_mode()

void AP_Camera::set_is_auto_mode ( bool enable )

inline

Definition at line 73 of file AP_Camera.h.

◆ set_trigger_distance()

void AP_Camera::set_trigger_distance ( uint32_t distance_m )

inline

Definition at line 60 of file AP_Camera.h.

Referenced by GCS_MAVLINK::handle_command_camera().

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◆ setup_feedback_callback()

void AP_Camera::setup_feedback_callback ( void )

private

Definition at line 360 of file AP_Camera.cpp.

Referenced by trigger_pic().

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◆ take_picture()

void AP_Camera::take_picture ( )

Definition at line 419 of file AP_Camera.cpp.

Referenced by set_trigger_distance(), and update().

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◆ trigger_pic()

void AP_Camera::trigger_pic ( )

private

single entry point to take pictures set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components

Definition at line 138 of file AP_Camera.cpp.

Referenced by control(), and take_picture().

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◆ trigger_pic_cleanup()

void AP_Camera::trigger_pic_cleanup ( )

private

de-activate the trigger after some delay, but without using a delay() function should be called at 50hz

Definition at line 159 of file AP_Camera.cpp.

Referenced by update_trigger().

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◆ update()

void AP_Camera::update ( void )

Definition at line 267 of file AP_Camera.cpp.

Referenced by set_trigger_distance().

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◆ update_trigger()

void AP_Camera::update_trigger ( )

Definition at line 440 of file AP_Camera.cpp.

Referenced by set_trigger_distance().

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◆ using_feedback_pin()

bool AP_Camera::using_feedback_pin ( void ) const

inlineprivate

Definition at line 129 of file AP_Camera.h.

Referenced by log_picture().

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Member Data Documentation

◆ _apm_relay

AP_Relay* AP_Camera::_apm_relay

private

Definition at line 82 of file AP_Camera.h.

Referenced by AP_Camera(), relay_pic(), and trigger_pic_cleanup().

◆ _auto_mode_only

AP_Int8 AP_Camera::_auto_mode_only

private

Definition at line 83 of file AP_Camera.h.

Referenced by update().

◆ _camera_triggered

volatile bool AP_Camera::_camera_triggered

staticprivate

Definition at line 108 of file AP_Camera.h.

Referenced by capture_callback(), check_trigger_pin(), and feedback_pin_timer().

◆ _feedback_events

uint16_t AP_Camera::_feedback_events

private

Definition at line 101 of file AP_Camera.h.

Referenced by send_feedback(), and update_trigger().

◆ _feedback_pin

AP_Int8 AP_Camera::_feedback_pin

private

Definition at line 104 of file AP_Camera.h.

Referenced by feedback_pin_timer(), and setup_feedback_callback().

◆ _feedback_polarity

AP_Int8 AP_Camera::_feedback_polarity

private

Definition at line 105 of file AP_Camera.h.

Referenced by feedback_pin_timer(), and setup_feedback_callback().

◆ _image_index

uint16_t AP_Camera::_image_index

private

Definition at line 100 of file AP_Camera.h.

Referenced by send_feedback(), and trigger_pic().

◆ _is_in_auto_mode

bool AP_Camera::_is_in_auto_mode

private

Definition at line 84 of file AP_Camera.h.

Referenced by set_is_auto_mode(), and update().

◆ _last_location

struct Location AP_Camera::_last_location

private

Definition at line 99 of file AP_Camera.h.

Referenced by update().

◆ _last_photo_time

uint32_t AP_Camera::_last_photo_time

private

Definition at line 98 of file AP_Camera.h.

Referenced by update().

◆ _last_pin_state

uint8_t AP_Camera::_last_pin_state

private

Definition at line 110 of file AP_Camera.h.

Referenced by feedback_pin_timer().

◆ _max_roll

AP_Int16 AP_Camera::_max_roll

private

Definition at line 97 of file AP_Camera.h.

Referenced by update().

◆ _min_interval

AP_Int16 AP_Camera::_min_interval

private

Definition at line 96 of file AP_Camera.h.

Referenced by update().

◆ _relay_on

AP_Int8 AP_Camera::_relay_on

private

Definition at line 78 of file AP_Camera.h.

Referenced by relay_pic(), and trigger_pic_cleanup().

◆ _servo_off_pwm

AP_Int16 AP_Camera::_servo_off_pwm

private

Definition at line 80 of file AP_Camera.h.

Referenced by trigger_pic_cleanup().

◆ _servo_on_pwm

AP_Int16 AP_Camera::_servo_on_pwm

private

Definition at line 79 of file AP_Camera.h.

Referenced by servo_pic().

◆ _timer_installed

bool AP_Camera::_timer_installed

private

Definition at line 109 of file AP_Camera.h.

Referenced by setup_feedback_callback().

◆ _trigg_dist

AP_Float AP_Camera::_trigg_dist

private

Definition at line 95 of file AP_Camera.h.

Referenced by set_trigger_distance(), and update().

◆ _trigger_counter

uint8_t AP_Camera::_trigger_counter

private

Definition at line 81 of file AP_Camera.h.

Referenced by relay_pic(), servo_pic(), and trigger_pic_cleanup().

◆ _trigger_duration

AP_Int8 AP_Camera::_trigger_duration

private

Definition at line 77 of file AP_Camera.h.

Referenced by relay_pic(), and servo_pic().

◆ _trigger_type

AP_Int8 AP_Camera::_trigger_type

private

Definition at line 76 of file AP_Camera.h.

Referenced by trigger_pic(), and trigger_pic_cleanup().

◆ ahrs

const AP_AHRS& AP_Camera::ahrs

private

Definition at line 116 of file AP_Camera.h.

Referenced by log_picture(), send_feedback(), update(), and update_trigger().

◆ current_loc

const struct Location& AP_Camera::current_loc

private

Definition at line 115 of file AP_Camera.h.

Referenced by log_picture(), send_feedback(), update(), and update_trigger().

◆ log_camera_bit

uint32_t AP_Camera::log_camera_bit

private

Definition at line 114 of file AP_Camera.h.

Referenced by log_picture(), and update_trigger().

◆ var_info

const AP_Param::GroupInfo AP_Camera::var_info

static

Definition at line 70 of file AP_Camera.h.

Referenced by AP_Camera().

The documentation for this class was generated from the following files:

libraries/AP_Camera/AP_Camera.h
libraries/AP_Camera/AP_Camera.cpp

Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AP_Camera() [1/2]

◆ AP_Camera() [2/2]

Member Function Documentation

◆ capture_callback()

◆ check_trigger_pin()

◆ configure()

◆ control()

◆ control_msg()

◆ feedback_pin_timer()

◆ log_picture()

◆ operator=()

◆ relay_pic()

◆ send_feedback()

◆ servo_pic()

◆ set_is_auto_mode()

◆ set_trigger_distance()

◆ setup_feedback_callback()

◆ take_picture()

◆ trigger_pic()

◆ trigger_pic_cleanup()

◆ update()

◆ update_trigger()

◆ using_feedback_pin()

Member Data Documentation

◆ _apm_relay

◆ _auto_mode_only

◆ _camera_triggered

◆ _feedback_events

◆ _feedback_pin

◆ _feedback_polarity

◆ _image_index

◆ _is_in_auto_mode

◆ _last_location

◆ _last_photo_time

◆ _last_pin_state

◆ _max_roll

◆ _min_interval

◆ _relay_on

◆ _servo_off_pwm

◆ _servo_on_pwm

◆ _timer_installed

◆ _trigg_dist

◆ _trigger_counter

◆ _trigger_duration

◆ _trigger_type

◆ ahrs

◆ current_loc

◆ log_camera_bit

◆ var_info