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Code Issues Releases Activity

LP-385 - Add Image Index

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This commit is contained in:
Alessio Morale 2016-09-08 02:19:17 +02:00
parent 493a48ba2b
commit 25b2a22122
2 changed files with 13 additions and 6 deletions
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18
flight/modules/CameraControl/cameracontrol.c
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@ -62,7 +62,8 @@ static struct CameraControl_data {
CameraStatus lastOutputStatus;
CameraStatus manualInput;
CameraStatus lastManualInput;
bool autoTriggerEnabled;
bool autoTriggerEnabled;
uint16_t ImageId;
float HomeECEF[3];
float HomeRne[3][3];
} *ccd;
@ -138,12 +139,13 @@ static void CameraControlTask()
bool trigger = false;
PositionStateData pos;
uint32_t timeSinceLastShot = PIOS_DELAY_DiffuS(ccd->lastTriggerTimeRaw);
CameraStatus newStatus;
if (checkActivation()) {
if (ccd->manualInput != ccd->lastManualInput && ccd->manualInput != CAMERASTATUS_Idle) {
// Manual override
trigger = true;
ccd->outputStatus = ccd->manualInput;
trigger = true;
newStatus = ccd->manualInput;
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_MANUAL;
} else {
// MinimumTimeInterval sets a hard limit on time between two consecutive shots, i.e. the minimum time between shots the camera can achieve
@ -152,7 +154,8 @@ static void CameraControlTask()
// check trigger conditions
if (ccd->settings.TimeInterval > 0) {
if (timeSinceLastShot > ccd->settings.TimeInterval * (1000 * 1000)) {
trigger = true;
trigger = true;
newStatus = CAMERASTATUS_Shot;
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_AUTOTIME;
}
}
@ -164,7 +167,8 @@ static void CameraControlTask()
float distance = sqrtf((dn * dn) + (de * de));
ccd->activity.TriggerMillisecond = (int16_t)distance * 10.0f;
if (distance > ccd->settings.SpaceInterval) {
trigger = true;
trigger = true;
newStatus = CAMERASTATUS_Shot;
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_AUTODISTANCE;
}
}
@ -172,7 +176,8 @@ static void CameraControlTask()
}
}
if (trigger) {
ccd->outputStatus = CAMERASTATUS_Shot;
ccd->outputStatus = newStatus;
ccd->ImageId++;
ccd->lastTriggerTimeRaw = PIOS_DELAY_GetRaw();
ccd->lastTriggerNEDPosition[0] = pos.North;
ccd->lastTriggerNEDPosition[1] = pos.East;
@ -331,6 +336,7 @@ static void FillActivityInfo()
activity->TriggerMillisecond = time.Millisecond;
}
activity->ImageId = ccd->ImageId;
activity->SystemTS = xTaskGetTickCount() * portTICK_RATE_MS;
{
AttitudeStateData attitude;

1
shared/uavobjectdefinition/cameracontrolactivity.xml
View File

@ -7,6 +7,7 @@
<field name="Roll" units="degrees" type="float" elements="1"/>
<field name="Pitch" units="degrees" type="float" elements="1"/>
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="ImageId" units="" type="uint16" elements="1"/>
<field name="TriggerMonth" units="" type="int8" elements="1"/>
<field name="TriggerDay" units="" type="int8" elements="1"/>
<field name="TriggerYear" units="" type="int16" elements="1"/>