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Code Issues Releases Activity

CameraStabilization: Make the CameraStabilization module put the desired

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position into another object (will help with configuration).
This commit is contained in:
James Cotton 2011-08-09 20:43:48 -05:00
parent c4e272b9ad
commit f11aa80444
5 changed files with 29 additions and 20 deletions
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1
flight/CopterControl/Makefile
View File

@ -166,6 +166,7 @@ SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c

31
flight/Modules/CameraStab/camerastab.c
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@ -50,6 +50,7 @@
#include "accessorydesired.h"
#include "attitudeactual.h"
#include "camerastabsettings.h"
#include "cameradesired.h"
//
// Configuration
@ -75,6 +76,7 @@ int32_t CameraStabInitialize(void)
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
@ -87,6 +89,7 @@ static void attitudeUpdated(UAVObjEvent* ev)
return;
float attitude;
float output;
AccessoryDesiredData accessory;
CameraStabSettingsData cameraStab;
@ -108,26 +111,18 @@ static void attitudeUpdated(UAVObjEvent* ev)
}
// Set output channels
if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_ROLL] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
AttitudeActualRollGet(&attitude);
accessory.AccessoryVal = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_ROLL] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
AccessoryDesiredCreateInstance();
}
AttitudeActualRollGet(&attitude);
output = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
CameraDesiredRollSet(&output);
if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_PITCH] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
AttitudeActualPitchGet(&attitude);
accessory.AccessoryVal = (attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_PITCH] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
AccessoryDesiredCreateInstance();
}
AttitudeActualPitchGet(&attitude);
output = (attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = (attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
CameraDesiredYawSet(&output);
if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_YAW] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
AttitudeActualYawGet(&attitude);
accessory.AccessoryVal = (attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_YAW] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
AccessoryDesiredCreateInstance();
}
}
/**

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
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@ -2695,6 +2695,7 @@
65C9908E13AC5D8D0082BD60 /* uavobjectsinit_linker.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_linker.c; sourceTree = "<group>"; };
65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
65DEA79113F2143B00095B06 /* cameradesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = cameradesired.xml; sourceTree = "<group>"; };
65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; };
65E6D80713E3A4D0002A557A /* hwsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = hwsettings.xml; sourceTree = "<group>"; };
65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
@ -7475,6 +7476,7 @@
65C35E7712EFB2F3004811C2 /* velocityactual.xml */,
65C35E7812EFB2F3004811C2 /* velocitydesired.xml */,
65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */,
65DEA79113F2143B00095B06 /* cameradesired.xml */,
);
path = uavobjectdefinition;
sourceTree = "<group>";

12
shared/uavobjectdefinition/cameradesired.xml Normal file
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@ -0,0 +1,12 @@
<xml>
<object name="CameraDesired" singleinstance="false" settings="false">
<description>Desired camera outputs. Comes from @ref CameraStabilization module.</description>
<field name="Roll" units="" type="float" elements="1"/>
<field name="Pitch" units="" type="float" elements="1"/>
<field name="Yaw" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

3
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -1,8 +1,7 @@
<xml>
<object name="CameraStabSettings" singleinstance="true" settings="true">
<description>Settings for the @ref CameraStab mmodule</description>
<field name="Outputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
<field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
<field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
<field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<access gcs="readwrite" flight="readwrite"/>