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It is out of date (have a look in conf/flight_plans/flight_plan.dtd for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/gen_flightplan.ml 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