External camera-IMU synchronisation and triggering, and support for camera manipulation using PWM signals over FMU auxillary pins. More...

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <stdbool.h>
#include <poll.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <systemlib/err.h>
#include <parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/PublicationQueued.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/camera_trigger.h>
#include <uORB/topics/camera_capture.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <drivers/drv_hrt.h>
#include "interfaces/src/camera_interface.h"
#include "interfaces/src/gpio.h"
#include "interfaces/src/pwm.h"
#include "interfaces/src/seagull_map2.h"

Include dependency graph for camera_trigger.cpp:

Classes
class	CameraTrigger

Namespaces
	camera_trigger

Macros
#define	commandParamToInt(n) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)

Enumerations
enum	camera_interface_mode_t : int32_t { CAMERA_INTERFACE_MODE_NONE = 0, CAMERA_INTERFACE_MODE_GPIO, CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM, CAMERA_INTERFACE_MODE_MAVLINK, CAMERA_INTERFACE_MODE_GENERIC_PWM }

enum	trigger_mode_t : int32_t { TRIGGER_MODE_NONE = 0, TRIGGER_MODE_INTERVAL_ON_CMD, TRIGGER_MODE_INTERVAL_ALWAYS_ON, TRIGGER_MODE_DISTANCE_ALWAYS_ON, TRIGGER_MODE_DISTANCE_ON_CMD }

Functions
__EXPORT int	camera_trigger_main (int argc, char *argv[])

static int	usage ()

Variables
CameraTrigger *	camera_trigger::g_camera_trigger

Detailed Description

External camera-IMU synchronisation and triggering, and support for camera manipulation using PWM signals over FMU auxillary pins.

Author: Mohammed Kabir kabir.nosp@m.@uas.nosp@m.ys.io; Kelly Steich kelly.nosp@m..ste.nosp@m.ich@w.nosp@m.ingt.nosp@m.ra.co.nosp@m.m; Andreas Bircher andre.nosp@m.as@w.nosp@m.ingtr.nosp@m.a.co.nosp@m.m

Definition in file camera_trigger.cpp.

Macro Definition Documentation

◆ commandParamToInt

#define commandParamToInt ( n ) static_cast<int>(n >= 0 ? n + 0.5f : n - 0.5f)

Definition at line 93 of file camera_trigger.cpp.

Referenced by CameraTrigger::Run().

Enumeration Type Documentation

◆ camera_interface_mode_t

enum camera_interface_mode_t : int32_t

Enumerator
CAMERA_INTERFACE_MODE_NONE
CAMERA_INTERFACE_MODE_GPIO
CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM
CAMERA_INTERFACE_MODE_MAVLINK
CAMERA_INTERFACE_MODE_GENERIC_PWM

Definition at line 77 of file camera_trigger.cpp.

◆ trigger_mode_t

enum trigger_mode_t : int32_t

Enumerator
TRIGGER_MODE_NONE
TRIGGER_MODE_INTERVAL_ON_CMD
TRIGGER_MODE_INTERVAL_ALWAYS_ON
TRIGGER_MODE_DISTANCE_ALWAYS_ON
TRIGGER_MODE_DISTANCE_ON_CMD

Definition at line 85 of file camera_trigger.cpp.

Function Documentation

◆ camera_trigger_main()

int camera_trigger_main	(	int	argc,
		char *	argv[]
	)

Definition at line 825 of file camera_trigger.cpp.

References CameraTrigger::CameraTrigger(), camera_trigger::g_camera_trigger, CameraTrigger::start(), CameraTrigger::status(), CameraTrigger::stop(), CameraTrigger::test(), CameraTrigger::toggle_power(), and usage().

Here is the call graph for this function:

◆ usage()

static int usage ( void )

static

Definition at line 819 of file camera_trigger.cpp.

Referenced by camera_trigger_main().

Here is the caller graph for this function:

Classes

Namespaces

Macros

Enumerations

Functions

Variables