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Code Issues Releases Activity

LP-385 - Manage time/distance trigger, picture trigger pulse duration

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This commit is contained in:
Alessio Morale 2016-08-28 22:42:56 +02:00
parent 3bd8d48068
commit b356408e16
3 changed files with 56 additions and 18 deletions
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70
flight/modules/CameraControl/cameracontrol.c
View File

@ -59,6 +59,7 @@ static struct CameraControl_data {
CameraStatus outputStatus;
CameraStatus lastOutputStatus;
CameraStatus manualInput;
CameraStatus lastManualInput;
bool autoTriggerEnabled;
} *ccd;
@ -94,6 +95,7 @@ int32_t CameraControlInitialize(void)
CameraDesiredInitialize();
CameraControlSettingsInitialize();
CameraControlSettingsConnectCallback(SettingsUpdateCb);
SettingsUpdateCb(NULL);
// init output:
@ -119,28 +121,55 @@ MODULE_INITCALL(CameraControlInitialize, CameraControlStart);
static void CameraControlTask()
{
bool trigger = false;
PositionStateData pos;
if (checkActivation()) {
// Manual override
if (ccd->manualInput != CAMERASTATUS_Idle) {
if (ccd->manualInput != ccd->lastManualInput && ccd->manualInput != CAMERASTATUS_Idle) {
// Manual override
ccd->outputStatus = ccd->manualInput;
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_MANUAL;
} else {
if (ccd->autoTriggerEnabled) {
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_AUTOTIME;
ccd->outputStatus = CAMERASTATUS_Shot;
// check trigger conditions
if (ccd->settings.TimeInterval > 0) {
if (PIOS_DELAY_DiffuS(ccd->lastTriggerTimeRaw) > ccd->settings.TimeInterval * (1000 * 1000)) {
trigger = true;
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_AUTOTIME;
}
}
if (ccd->settings.SpaceInterval > 0) {
PositionStateGet(&pos);
float dn = pos.North - ccd->lastTriggerNEDPosition[0];
float de = pos.East - ccd->lastTriggerNEDPosition[1];
float distance = sqrtf((dn * dn) + (de * de));
ccd->activity.TriggerMilliSecond = (int16_t)distance * 10.0f;
if (distance > ccd->settings.SpaceInterval) {
trigger = true;
ccd->activity.Reason = CAMERACONTROLACTIVITY_REASON_AUTODISTANCE;
}
}
}
}
}
if (trigger) {
ccd->outputStatus = CAMERASTATUS_Shot;
ccd->lastTriggerTimeRaw = PIOS_DELAY_GetRaw();
ccd->lastTriggerNEDPosition[0] = pos.North;
ccd->lastTriggerNEDPosition[1] = pos.East;
ccd->lastTriggerNEDPosition[2] = pos.Down;
} else {
ccd->outputStatus = CAMERASTATUS_Idle;
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_IDLE;
}
UpdateOutput();
ccd->lastManualInput = ccd->manualInput;
PublishActivity();
ccd->lastOutputStatus = ccd->outputStatus;
UpdateOutput();
PIOS_CALLBACKSCHEDULER_Schedule(ccd->callbackHandle, CALLBACK_STD_PERIOD, CALLBACK_UPDATEMODE_SOONER);
}
static void SettingsUpdateCb(__attribute__((unused)) UAVObjEvent *ev)
{
CameraControlSettingsGet(&ccd->settings);
@ -203,7 +232,14 @@ static void UpdateOutput()
if (ccd->outputStatus != ccd->lastOutputStatus) {
switch (ccd->outputStatus) {
case CAMERASTATUS_Idle:
CameraDesiredTriggerSet(&ccd->settings.OutputValues.Idle);
if (CAMERASTATUS_Shot == ccd->lastOutputStatus) {
if (PIOS_DELAY_DiffuS(ccd->lastTriggerTimeRaw) > ccd->settings.TriggerPulseWidth * 1000) {
CameraDesiredTriggerSet(&ccd->settings.OutputValues.Idle);
} else {
// skip updating lastOutputStatus until TriggerPulseWidth elapsed
return;
}
}
break;
case CAMERASTATUS_Shot:
CameraDesiredTriggerSet(&ccd->settings.OutputValues.Shot);
@ -213,6 +249,7 @@ static void UpdateOutput()
break;
}
}
ccd->lastOutputStatus = ccd->outputStatus;
}
static void PublishActivity()
@ -223,7 +260,7 @@ static void PublishActivity()
if (ccd->lastOutputStatus == CAMERASTATUS_Video) {
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_STOPVIDEO;
} else {
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_NONE;
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_IDLE;
}
break;
case CAMERASTATUS_Shot:
@ -233,11 +270,12 @@ static void PublishActivity()
if (ccd->lastOutputStatus != CAMERASTATUS_Video) {
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_STARTVIDEO;
} else {
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_NONE;
ccd->activity.Activity = CAMERACONTROLACTIVITY_ACTIVITY_IDLE;
}
break;
}
if (ccd->activity.Activity != CAMERACONTROLACTIVITY_ACTIVITY_NONE) {
if (ccd->activity.Activity != CAMERACONTROLACTIVITY_ACTIVITY_IDLE
|| ccd->lastOutputStatus != CAMERASTATUS_Shot) {
FillActivityInfo();
CameraControlActivitySet(&ccd->activity);
}
@ -251,9 +289,9 @@ static void FillActivityInfo()
PositionStateData position;
PositionStateGet(&position);
activity->Latitude = position.North;
activity->Longitude = position.East;
activity->Altitude = -position.Down;
activity->Latitude = position.North * 1e3f;
activity->Longitude = position.East * 1e3f;
activity->Altitude = -position.Down * 1e3f;
}
{
GPSTimeData time;
@ -267,7 +305,8 @@ static void FillActivityInfo()
activity->TriggerSecond = time.Second;
activity->TriggerMilliSecond = time.MilliSecond;
}
activity->SysTS = PIOS_DELAY_GetuS();
activity->SysTS = PIOS_DELAY_GetuS();
{
AttitudeStateData attitude;
AttitudeStateGet(&attitude);
@ -276,5 +315,4 @@ static void FillActivityInfo()
activity->Pitch = attitude.Pitch;
activity->Yaw = attitude.Yaw;
}
}

2
shared/uavobjectdefinition/cameracontrolactivity.xml
View File

@ -14,7 +14,7 @@
<field name="TriggerMinute" units="" type="int8" elements="1"/>
<field name="TriggerSecond" units="" type="int8" elements="1"/>
<field name="TriggerMilliSecond" units="" type="int16" elements="1"/>
<field name="Activity" units="" type="enum" elements="1" options="None,TriggerPicture,StartVideo,StopVideo" default="None"/>
<field name="Activity" units="" type="enum" elements="1" options="Idle,TriggerPicture,StartVideo,StopVideo" default="None"/>
<field name="Reason" units="" type="enum" elements="1" options="Manual,AutoDistance,AutoTime" default="Manual"/>
<field name="SysTS" units="us" type="uint32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>

2
shared/uavobjectdefinition/cameracontrolsettings.xml
View File

@ -6,7 +6,7 @@
<field name="AutoTriggerMode" units="mode" type="enum" elements="1" options="Disabled,WhenArmed,Always,Input,Mission" defaultvalue="WhenArmed"/>
<field name="OutputValues" units="%" type="float" elementnames="Idle,Shot,Video" defaultvalue="0,-1,1" />
<field name="InputValues" units="%" type="float" elementnames="Idle,Shot,Video" defaultvalue="0,-1,1" />
<field name="TriggerResponseTime" units="ms" type="uint8" elements="1" defaultvalue="0"/>
<field name="TriggerPulseWidth" units="ms" type="uint8" elements="1" defaultvalue="50"/>
<field name="TimeInterval" units="s" type="float" elements="1" defaultvalue="0"/>
<field name="SpaceInterval" units="m" type="float" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>