Re: [Paparazzi-devel] Re: POI Camera Tracking?

[Martin Mueller]

Hi Bart,

have not used the code for a while...sorry. The wiki description is 
outdated as the code is enhanced. There are several ways to connect 
pan/tilt/yaw controlled cameras. This is reflected by the define that 
you have to set according to your configuration, it is described at the 
bottom of point.c, either:

POINT_CAM_PITCH:        Red One/MAV07
POINT_CAM_ROLL:         Black One/MAV06
POINT_CAM_YAW_PITCH:    Glotzer/MAV05 and the Twinstar video
POINT_CAM_PITCH_ROLL:   ENACs Slicer/MAV08

The angle directions are also mentioned in the source code. With the 
servo and angle defines that you do "it should work" then.

Martin

Bart Remes wrote:
> Hi Martin,
>
> I also want to implement a pant tilt in mine twinjet.
> your piont.c code have to work for mine TUdelftTwinjet.xml
>
> When there are some other pant tilt codes available (Chris) please let 
> me know.
>
> Is there a wiki page on the camera pan tilt code?
> I found this one
> http://paparazzi.enac.fr/wiki/Pan_Tilt_Camera
>
> but there is no examples how to implement it in mine aircraft file.
>
> is this all I need to add???
>
>     <servo name="CAM_PAN"       no="3" min="2000" neutral="1550" 
> max="1000"/>
>     <servo name="CAM_TILT"      no="6" min="1000" neutral="1550" 
> max="2000"/>
>  
>     <axis name="CAM_TILT"     failsafe_value="0"/>
>     <axis name="CAM_PAN"    failsafe_value="0"/>
>  
>     <set command="CAM_PAN" value="@YAW"/>
>     <set command="CAM_TILT" value="@GAIN1"/>
>
>     <set servo="CAM_PAN"      value="@CAM_PAN"/>
>     <set servo="CAM_TILT"     value="@CAM_TILT"/>
>  
>
>   <section name="CAM" prefix="CAM_">
>     <define name="TILT_MAX"      value="30" unit="deg"/>
>     <define name="TILT_NEUTRAL"  value="0" unit="deg"/>
>     <define name="TILT_MIN"      value="-30"  unit="deg"/>
>     <define name="TILT0"        value="0" unit="deg"/>
>
>     <define name="PAN_MAX"     value="45" unit="deg"/>
>     <define name="PAN_NEUTRAL" value="0" unit="deg"/>
>     <define name="PAN_MIN"     value="-45"  unit="deg"/>
>     <define name="PAN0"          value="0" unit="deg"/>
>   </section>
>
>
>
> ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
> ap.srcs += cam.c point.c
>
> # Config for SITL simulation
> sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL
> sim.srcs += cam.c point.c
>
>
> kind regards Bart Remes
>
>
>
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