mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
148 lines
4.5 KiB
C
148 lines
4.5 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup CameraStab Camera Stabilization Module
|
|
* @brief Camera stabilization module
|
|
* Updates accessory outputs with values appropriate for camera stabilization
|
|
* @{
|
|
*
|
|
* @file camerastab.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Stabilize camera against the roll pitch and yaw of aircraft
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
/**
|
|
* Output object: Accessory
|
|
*
|
|
* This module will periodically calculate the output values for stabilizing the camera
|
|
*
|
|
* UAVObjects are automatically generated by the UAVObjectGenerator from
|
|
* the object definition XML file.
|
|
*
|
|
* Modules have no API, all communication to other modules is done through UAVObjects.
|
|
* However modules may use the API exposed by shared libraries.
|
|
* See the OpenPilot wiki for more details.
|
|
* http://www.openpilot.org/OpenPilot_Application_Architecture
|
|
*
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
|
|
#include "accessorydesired.h"
|
|
#include "attitudeactual.h"
|
|
#include "camerastabsettings.h"
|
|
#include "cameradesired.h"
|
|
|
|
//
|
|
// Configuration
|
|
//
|
|
#define SAMPLE_PERIOD_MS 10
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
|
|
// Private functions
|
|
static void attitudeUpdated(UAVObjEvent* ev);
|
|
static float bound(float val);
|
|
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t CameraStabInitialize(void)
|
|
{
|
|
static UAVObjEvent ev;
|
|
ev.obj = AttitudeActualHandle();
|
|
ev.instId = 0;
|
|
ev.event = 0;
|
|
|
|
CameraStabSettingsInitialize();
|
|
CameraDesiredInitialize();
|
|
|
|
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/* stub: module has no module thread */
|
|
int32_t CameraStabStart(void)
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
static void attitudeUpdated(UAVObjEvent* ev)
|
|
{
|
|
if (ev->obj != AttitudeActualHandle())
|
|
return;
|
|
|
|
float attitude;
|
|
float output;
|
|
AccessoryDesiredData accessory;
|
|
|
|
CameraStabSettingsData cameraStab;
|
|
CameraStabSettingsGet(&cameraStab);
|
|
|
|
// Read any input channels
|
|
float inputs[3] = {0,0,0};
|
|
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) {
|
|
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
|
|
inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL];
|
|
}
|
|
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) {
|
|
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
|
|
inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH];
|
|
}
|
|
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) {
|
|
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
|
|
inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW];
|
|
}
|
|
|
|
// Set output channels
|
|
AttitudeActualRollGet(&attitude);
|
|
output = bound((attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL]);
|
|
CameraDesiredRollSet(&output);
|
|
|
|
AttitudeActualPitchGet(&attitude);
|
|
output = bound((attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH]);
|
|
CameraDesiredPitchSet(&output);
|
|
|
|
AttitudeActualYawGet(&attitude);
|
|
output = bound((attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW]);
|
|
CameraDesiredYawSet(&output);
|
|
|
|
}
|
|
|
|
float bound(float val)
|
|
{
|
|
return (val > 1) ? 1 :
|
|
(val < -1) ? -1 :
|
|
val;
|
|
}
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|