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d7fde289de
The CameraFeedback module used only the vehicle attitude for the camera orientation so far. With this change, the gimbal_device_attitude_status is used to compute the global camera orientation when a gimbal is used.
92 lines
3.3 KiB
C++
92 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017-2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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*
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* Online and offline geotagging from camera feedback
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*
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* @author Mohammed Kabir <kabir@uasys.io>
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*/
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#pragma once
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#include <lib/mathlib/mathlib.h>
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#include <lib/parameters/param.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/camera_capture.h>
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#include <uORB/topics/camera_trigger.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/gimbal_device_attitude_status.h>
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class CameraFeedback : public ModuleBase<CameraFeedback>, public ModuleParams, public px4::WorkItem
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{
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public:
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CameraFeedback();
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~CameraFeedback() override = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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private:
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void Run() override;
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uORB::SubscriptionCallbackWorkItem _trigger_sub{this, ORB_ID(camera_trigger)};
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uORB::Subscription _gpos_sub{ORB_ID(vehicle_global_position)};
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uORB::Subscription _att_sub{ORB_ID(vehicle_attitude)};
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uORB::Subscription _gimbal_sub{ORB_ID(gimbal_device_attitude_status)};
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uORB::Publication<camera_capture_s> _capture_pub{ORB_ID(camera_capture)};
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param_t _p_cam_cap_fback;
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int32_t _cam_cap_fback{0};
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};
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