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Re: Re: [Paparazzi-devel] Re: CAM_MODE in flightplan missing in DTD

From: Todd Sandercock
Subject: Re: Re: [Paparazzi-devel] Re: CAM_MODE in flightplan missing in DTD
Date: Tue, 14 Oct 2008 04:25:24 -0700 (PDT)

There seems to be a problem with the sim, not the cam code. I found this in one of the aircraft files:
ap.srcs += point.c cam.c

and something like this could be used in the flight plan i think:
<block name="Cam mode WP target">
    <set value="4" var="cam_mode"/>

I tried this and it compiled just fine for the ap target but it would not compile for the sim. I can't say if it works but its worth a try


----- Original Message ----
From: Guillaume Sanchez <address@hidden>
To: address@hidden
Sent: Tuesday, 14 October, 2008 5:02:19 PM
Subject: Re: Re: [Paparazzi-devel] Re: CAM_MODE in flightplan missing in DTD

Hi Pascal,

Thanks for your comments. In fact, I already looked at the code before
sending this email. So I am going to detail a little more my problem:

The example comes from the development menu of the wiki:

I have also tried with other flight plans. And the result is the same:
I cannot have flight plan with camera control. because the xml document
generate error at the validation.

I have check the flightplan.dtd:

- in the different elements (go, circle, line, ....) there is no
attribute defined for the camera. So, I think this why the my flightplan
generate errors. So, actually the dtd does not allow to control the
camera from the flightplan.

- I also had a look at the revision history of the file flightplan.dtd,
and apparently the camera control have been remove in version 1.34 on
26/02/2008 by Hecto.
So I downloaded the fligthplan.dtd revision 1.3, and I could run the
complete build for the autopilot.

But when checking, the flightplan.h file in the var/<airframe>
directory, there is no calls the cam funtion for the related blocks.
And looking at the file sw/tools/, there is no code
related to the cam.

So, I checked in CVS the revision of the file
sw/tools/, and the cam mode has been removed in
revision 1. on 70 26/02/2008 by Hecto.

So, I download the revision 1.69 of sw/tools/
And with this version, I could generated a flight_plan.h file with cam
But the built fail later when compliling nav.c.

But, it looks to me that the control of the camera has been removed from
the flight_plan in the up-to-date version of CVS.
- Am I wrong, and do I miss something?
- Is it no longer possible to control the camera?
- Is there another way to control the camera that is not described in
the wiki?


> Message: 3
> Date: Mon, 13 Oct 2008 23:15:35 +0200
> From: Pascal Brisset <address@hidden>
> Subject: Re: [Paparazzi-devel] Re: CAM_MODE in flightplan missing in
>     DTD
> To: address@hidden
> Message-ID: <address@hidden>
> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
> Hi Guillaume,
> I'm not able to find this example in the wiki :-(
> It is out of date (have a look in conf/flight_plans/flight_plan.dtd for
> the _true_ reference about the flight plan language).
> The current code is located in sw/airborne/cam.c, point.c and cam.h.
> Have a look on the latter where you will find
>  - cam_mode to control the mode of the pan/tilt camera (lines 35-42)
>  - the different inputs according to the mode: cam_target_[xy],
> cam_target_wp, ...
> You can use the conf/settings/cam.xml file to control all these features
> from the GCS
> --Pascal
> Guillaume Sanchez wrote:
> > In addition,
> >
> > When I generate the code of the flightplan, there is nothing about
> > managing the camera.
> >
> > I add a look at the sw/tools/ code, but I cannot see
> > anything related to the management of a camera. And I cannot see any
> > calls in flightplan.h for the cam functions.
> >
> > Is it possible to have more details how the code to move the camera is
> > generated?
> >
> > Thanks
> >
> >
> >
> > 
> >> Hello,
> >>
> >> I tried to make a flight plan with some command for a camera based on
> >> the example given in the wiki:
> >>
> >> <blocks>
> >>    <block name="see 1">
> >>      <circle target="1" wp="HOME" cam_mode="target" alt="GROUND_ALT+50" radius="75"/>
> >>    </block>
> >>    <block name="nadir">
> >>      <circle wp="HOME" cam_mode="nadir" alt="GROUND_ALT+50" radius="75"/>
> >>    </block>
> >>  </blocks>
> >>
> >> When building the software to upload to the autopilot in the Paparazzi center, I have some exception:
> >>
> >> Exception.Dtd.Prove_error(Dtd.UnexceptedAttribute "TARGET").
> >>
> >>
> >> And, effectivily, in the flightplan.dtd there is no TARGET attribute
> >> (and CAM_MODE attribute) for the circle tag.
> >>
> >> If I modify the flightplan.dtd, by adding these attributes to the circle
> >> tag, there are no longer error, and I can build successfully.
> >>
> >>
> >> But, I wonder, if this is the good way to do it: modify the dtd by
> >> adding the cam_mode and target attribute to all the navigation tags ?
> >>
> >> Thanks for your support,
> >>
> >> Guillaume
> >>

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