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135 lines
4.3 KiB
C
135 lines
4.3 KiB
C
/**
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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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#include "camerastabsettings.h"
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#include "cameradesired.h"
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//
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// Configuration
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//
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#define SAMPLE_PERIOD_MS 10
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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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CameraStabSettingsInitialize();
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CameraDesiredInitialize();
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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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float output;
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AccessoryDesiredData accessory;
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CameraStabSettingsData cameraStab;
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CameraStabSettingsGet(&cameraStab);
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// Read any input channels
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float inputs[3] = {0,0,0};
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if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) {
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if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
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inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL];
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}
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if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) {
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if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
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inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH];
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}
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if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) {
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if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0)
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inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW];
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}
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// Set output channels
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AttitudeActualRollGet(&attitude);
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output = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
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CameraDesiredRollSet(&output);
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AttitudeActualPitchGet(&attitude);
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output = (attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
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CameraDesiredPitchSet(&output);
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AttitudeActualYawGet(&attitude);
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output = (attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
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CameraDesiredYawSet(&output);
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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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