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OP-193 OP-511: Basic code for camera stabilization. Currently tune range with
the servo endpoints and neutral.
This commit is contained in:
James Cotton
parent
144f36dfb7
commit
7d7d03cfd0
115
flight/Modules/CameraStab/camerastab.c
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115
flight/Modules/CameraStab/camerastab.c
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@ -0,0 +1,115 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup CameraStab Camera Stabilization Module
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* @brief Camera stabilization module
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* Updates accessory outputs with values appropriate for camera stabilization
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* @{
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*
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* @file camerastab.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Stabilize camera against the roll pitch and yaw of aircraft
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program 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 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Output object: Accessory
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*
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* This module will periodically calculate the output values for stabilizing the camera
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*
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* UAVObjects are automatically generated by the UAVObjectGenerator from
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* the object definition XML file.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "openpilot.h"
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#include "accessorydesired.h"
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#include "attitudeactual.h"
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//
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// Configuration
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//
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#define SAMPLE_PERIOD_MS 50
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// Private types
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// Private variables
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// Private functions
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static void attitudeUpdated(UAVObjEvent* ev);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t CameraStabInitialize(void)
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{
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static UAVObjEvent ev;
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ev.obj = AttitudeActualHandle();
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ev.instId = 0;
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ev.event = 0;
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EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
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return 0;
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}
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static void attitudeUpdated(UAVObjEvent* ev)
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{
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if (ev->obj != AttitudeActualHandle())
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return;
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float attitude;
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AccessoryDesiredData accessory;
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float rollConst = 1.0/35.0;
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float pitchConst = 1.0/35.0;
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float yawConst = 1.0/35.0;
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AttitudeActualRollGet(&attitude);
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accessory.AccessoryVal = attitude * rollConst;
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if(AccessoryDesiredInstSet(0, &accessory) != 0)
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AccessoryDesiredCreateInstance();
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AttitudeActualPitchGet(&attitude);
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accessory.AccessoryVal = attitude * pitchConst;
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if(AccessoryDesiredInstSet(1, &accessory) != 0)
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AccessoryDesiredCreateInstance();
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AttitudeActualYawGet(&attitude);
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accessory.AccessoryVal = attitude * yawConst;
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if(AccessoryDesiredInstSet(2, &accessory) != 0)
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AccessoryDesiredCreateInstance();
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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42
flight/Modules/CameraStab/inc/camerastab.h
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42
flight/Modules/CameraStab/inc/camerastab.h
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@ -0,0 +1,42 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup BatteryModule Battery Module
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* @{
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*
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* @file battery.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Module to read the battery Voltage and Current periodically and set alarms appropriately.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program 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 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef BATTERY_H
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#define BATTERY_H
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#include "openpilot.h"
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int32_t BatteryInitialize(void);
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#endif // BATTERY_H
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/**
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* @}
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* @}
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*/
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@ -2687,6 +2687,8 @@
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65C35EA812F0A834004811C2 /* eventdispatcher.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = eventdispatcher.c; sourceTree = "<group>"; };
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65C35F6612F0DC2D004811C2 /* attitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = attitude.c; sourceTree = "<group>"; };
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65C35F6812F0DC2D004811C2 /* attitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitude.h; sourceTree = "<group>"; };
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65C9903C13A871B90082BD60 /* camerastab.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = camerastab.c; sourceTree = "<group>"; };
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65C9903E13A871B90082BD60 /* camerastab.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = camerastab.h; sourceTree = "<group>"; };
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65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
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65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
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65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
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@ -3205,6 +3207,7 @@
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650D8E2812DFE16400D05CC9 /* Altitude */,
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65C35F6512F0DC2D004811C2 /* Attitude */,
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650D8E2E12DFE16400D05CC9 /* Battery */,
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65C9903B13A871B90082BD60 /* CameraStab */,
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650D8E3212DFE16400D05CC9 /* Example */,
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650D8E3B12DFE16400D05CC9 /* FirmwareIAP */,
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650D8E3F12DFE16400D05CC9 /* FlightPlan */,
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@ -7498,6 +7501,23 @@
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path = inc;
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sourceTree = "<group>";
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};
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65C9903B13A871B90082BD60 /* CameraStab */ = {
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isa = PBXGroup;
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children = (
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65C9903C13A871B90082BD60 /* camerastab.c */,
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65C9903D13A871B90082BD60 /* inc */,
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);
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path = CameraStab;
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sourceTree = "<group>";
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};
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65C9903D13A871B90082BD60 /* inc */ = {
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isa = PBXGroup;
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children = (
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65C9903E13A871B90082BD60 /* camerastab.h */,
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);
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path = inc;
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sourceTree = "<group>";
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};
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65E6DF7012E02E8E00058553 /* CopterControl */ = {
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isa = PBXGroup;
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children = (
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