rotorcraft_cam
Camera control for rotorcraft. The camera is controled by the heading of the vehicle for pan and can be controlled by a servo for tilt if defined. Four modes: - NONE: no control - MANUAL: the servo position is set with PWM - HEADING: the servo position and the heading of the rotorcraft are set with angles - WP: the camera is tracking a waypoint (Default: CAM) If ROTORCRAFT_CAM_SWITCH_GPIO is defined, this gpio is set/cleared to switch the power of the camera on in normal modes and disable it when in NONE mode. On boards with CAM_SWITCH, ROTORCRAFT_CAM_SWITCH_GPIO can be defined to CAM_SWITCH_GPIO.
ROTORCRAFT_CAM_ |
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Name |
Value |
Description |
DEFAULT_MODE |
MODE_NONE|MODE_MANUAL|MODE_HEADING|MODE_WP |
Select default mode (default: MODE_NONE) |
SWITCH_GPIO |
gpio |
GPIO used to turn on/off the camer power, e.g. CAM_SWITCH_GPIO or GPIOB,GPIO22. Nothing set by default. |
CAM_ON |
gpio_set|gpio_clear |
Gpio output level to turn camera power power on. gpio_set (default) or gpio_clear |
CAM_OFF |
gpio_set|gpio_clear |
Gpio output level to turn camera power power off. gpio_set or gpio_clear (default) |
TILT_SERVO |
name |
Servo name for tilt control (no tilt control if not defined) |
TILT_ANGLE_MIN |
angle |
Tilt angle corresponding to the servo min position |
TILT_ANGLE_MAX |
angle |
Tilt angle corresponding to the servo max position |
USE_PAN |
TRUE|FALSE |
Enable pan control with heading (default: TRUE) |
TRACK_WP |
WP_XXX |
Enable waypoint tracking mode on the selected WP (default: enable if waypoint CAM is defined) |
STICK_TILT_INC |
angle/stick_input |
Sensitivity of the datalink stick tilt control (default: 10 deg) |
STICK_PAN_INC |
angle/stick_input |
Sensitivity of the datalink stick pan control (default: 20 deg) |