Pan Tilt Camera - Revision history

Rijesh: added Cam_Footprint link

2017-10-18T22:25:08Z

added Cam_Footprint link

← Older revision		Revision as of 16:25, 18 October 2017
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	== Pan/Tilt Video Camera Mechanism ==		== Pan/Tilt Video Camera Mechanism ==

	Paparazzi currently allows to automatically move (follow a waypoint) a one axis pitch or roll camera as well as a two axis yaw-fixed-then-pitch camera.		Paparazzi currently allows to automatically move (follow a waypoint) a one axis pitch or roll camera as well as a two axis yaw-fixed-then-pitch camera. A [[Cam_Footprint\|cam footprint]] can also be enabled on the GCS.

	[[Image:Glotzer_cam_xy.jpg\|thumb\|left\|Two axis yaw-fixed, pitch-move mechanism]]		[[Image:Glotzer_cam_xy.jpg\|thumb\|left\|Two axis yaw-fixed, pitch-move mechanism]]

Flixr: add to modules category and remove unit="deg"

2014-10-08T09:13:32Z

add to modules category and remove unit="deg"

← Older revision		Revision as of 03:13, 8 October 2014
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			<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Modules</categorytree>

	== Pan/Tilt Video Camera Mechanism ==		== Pan/Tilt Video Camera Mechanism ==

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	<section name="CAM" prefix="CAM_">		<section name="CAM" prefix="CAM_">
	<define name="TILT_MAX" value="30~~" unit="deg~~"/>		<define name="TILT_MAX" value="30"/>
	<define name="TILT_NEUTRAL" value="0~~" unit="deg~~"/>		<define name="TILT_NEUTRAL" value="0"/>
	<define name="TILT_MIN" value="-30~~" unit="deg~~"/>		<define name="TILT_MIN" value="-30"/>
	<define name="TILT0" value="0~~" unit="deg~~"/>		<define name="TILT0" value="0" />

	<define name="PAN_MAX" value="45~~" unit="deg~~"/>		<define name="PAN_MAX" value="45"/>
	<define name="PAN_NEUTRAL" value="0~~" unit="deg~~"/>		<define name="PAN_NEUTRAL" value="0"/>
	<define name="PAN_MIN" value="-45~~" unit="deg~~"/>		<define name="PAN_MIN" value="-45"/>
	<define name="PAN0" value="0~~" unit="deg~~"/>		<define name="PAN0" value="0"/>
	</section>		</section>

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	2=... (see your way point file)		2=... (see your way point file)

	[[Category:Hardware]]		[[Category:Hardware]] [[Category:User_Documentation]] [[Category:Modules]]

Mbina at 23:34, 16 September 2013

2013-09-16T23:34:26Z

← Older revision		Revision as of 17:34, 16 September 2013
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	Add this to your Aircraft file to the right place:		Add this to your Aircraft file to the right place:
	<~~pre~~>		<source lang="xml">
	<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>		<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>
	<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>		<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>

	<axis name="CAM_TILT" failsafe_value="0"/>		<axis name="CAM_TILT" failsafe_value="0"/>
	<axis name="CAM_PAN" failsafe_value="0"/>		<axis name="CAM_PAN" failsafe_value="0"/>

	<set command="CAM_PAN" value="@YAW"/>		<set command="CAM_PAN" value="@YAW"/>
	<set command="CAM_TILT" value="@GAIN1"/>		<set command="CAM_TILT" value="@GAIN1"/>

	<set servo="CAM_PAN" value="@CAM_PAN"/>		<set servo="CAM_PAN" value="@CAM_PAN"/>
	<set servo="CAM_TILT" value="@CAM_TILT"/>		<set servo="CAM_TILT" value="@CAM_TILT"/>
	~~</pre~~>

	~~<pre>~~
	<section name="CAM" prefix="CAM_">		<section name="CAM" prefix="CAM_">
	<define name="TILT_MAX" value="30" unit="deg"/>		<define name="TILT_MAX" value="30" unit="deg"/>
	<define name="TILT_NEUTRAL" value="0" unit="deg"/>		<define name="TILT_NEUTRAL" value="0" unit="deg"/>
	<define name="TILT_MIN" value="-30" unit="deg"/>		<define name="TILT_MIN" value="-30" unit="deg"/>
	<define name="TILT0" value="0" unit="deg"/>		<define name="TILT0" value="0" unit="deg"/>

	<define name="PAN_MAX" value="45" unit="deg"/>		<define name="PAN_MAX" value="45" unit="deg"/>
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	<define name="PAN0" value="0" unit="deg"/>		<define name="PAN0" value="0" unit="deg"/>
	</section>		</section>
	~~</pre>~~

	<modules main_freq="60">		<modules main_freq="60">
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	</load>		</load>
	</modules>		</modules>
			</source>

	It make use of cam.c and point.c in sw/airborne/modules/cam_control/		It make use of cam.c and point.c in sw/airborne/modules/cam_control/

Flixr: the param node for modules was renamed to the standard define a long time ago...

2012-12-04T23:13:26Z

the param node for modules was renamed to the standard define a long time ago...

← Older revision		Revision as of 17:13, 4 December 2012
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	<modules main_freq="60">		<modules main_freq="60">
	<load name="cam_point.xml">		<load name="cam_point.xml">
	<~~param~~ name="POINT_CAM_PITCH_ROLL" value="1"/>		<define name="POINT_CAM_PITCH_ROLL" value="1"/>
	<~~param~~ name="SHOW_CAM_COORDINATES" value="1"/>		<define name="SHOW_CAM_COORDINATES" value="1"/>
	</load>		</load>
	</modules>		</modules>

Esden at 20:03, 10 March 2011

2011-03-10T20:03:39Z

← Older revision		Revision as of 14:03, 10 March 2011
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	2=... (see your way point file)		2=... (see your way point file)

			[[Category:Hardware]]

Flixr: pretty up and remove duplicate stuff

2010-08-30T21:31:44Z

pretty up and remove duplicate stuff

← Older revision		Revision as of 15:31, 30 August 2010
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	tilt servo is moved by the pan servo and moves the camera.		tilt servo is moved by the pan servo and moves the camera.

	~~pan servo, tilt set to 90°, looking from top:~~
	~~plane front~~
	~~<tt>~~
	^
	I
	~~I 45°~~
	~~I /~~
	I/
	~~I------- 0°~~
	I\
	~~I \~~
	~~I -45°~~
	I
	~~</tt>~~
	~~plane rear~~

	~~tilt servo, pan set to 0°, looking from back:~~
	~~<tt>~~
	~~plane left --------------- plane right~~
	~~/ I \~~
	~~/ I \~~
	~~-45° I 45°~~
	0°
	~~</tt>~~


	Add this to your Aircraft file to the right place:		Add this to your Aircraft file to the right place:
			<pre>
	<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>		<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>
	<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>		<servo name="CAM_TILT" no="6" min="1000" neutral="1550" max="2000"/>

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	<set servo="CAM_PAN" value="@CAM_PAN"/>		<set servo="CAM_PAN" value="@CAM_PAN"/>
	<set servo="CAM_TILT" value="@CAM_TILT"/>		<set servo="CAM_TILT" value="@CAM_TILT"/>
			</pre>

			<pre>
	<section name="CAM" prefix="CAM_">		<section name="CAM" prefix="CAM_">
	<define name="TILT_MAX" value="30" unit="deg"/>		<define name="TILT_MAX" value="30" unit="deg"/>
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	<define name="PAN0" value="0" unit="deg"/>		<define name="PAN0" value="0" unit="deg"/>
	</section>		</section>
			</pre>

	<modules main_freq="60">		<modules main_freq="60">

Aerovista: /* Pan/Tilt Video Camera Mechanism */

2010-08-30T21:05:36Z

Pan/Tilt Video Camera Mechanism

← Older revision		Revision as of 15:05, 30 August 2010
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	Add this to your Aircraft file to the ~~wright~~ place:		Add this to your Aircraft file to the right place:

	<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>		<servo name="CAM_PAN" no="3" min="2000" neutral="1550" max="1000"/>

Flixr: /* Pan/Tilt Video Camera Mechanism */

2010-08-30T20:06:13Z

Pan/Tilt Video Camera Mechanism

← Older revision		Revision as of 14:06, 30 August 2010
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			<modules main_freq="60">
			<load name="cam_point.xml">
			<param name="POINT_CAM_PITCH_ROLL" value="1"/>
			<param name="SHOW_CAM_COORDINATES" value="1"/>
			</load>
			</modules>

	~~ap.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL~~
	~~ap.srcs += cam.c point.c traffic_info.c~~

	~~# Config for SITL simulation~~		It make use of cam.c and point.c in sw/airborne/modules/cam_control/
	~~sim.CFLAGS += -DCAM -DMOBILE_CAM -DPOINT_CAM -DPOINT_CAM_PITCH_ROLL~~
	~~sim.srcs += cam.c point.c traffic_info.c~~


	It make use of cam.c and point.c

	When you load cam.xml in your settings of your aircraft session you can tune this:		When you load cam.xml in your settings of your aircraft session you can tune this:

Aerovista: /* Pan/Tilt Video Camera Mechanism */

2010-08-16T19:14:39Z

Pan/Tilt Video Camera Mechanism

← Older revision		Revision as of 13:14, 16 August 2010
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	I I I		I I I
	</tt>		</tt>

			If you don't want to bother modifying your servo to 180°, use a 180° servo strecher for your standard servo [[http://www.servocity.com/html/180o_servo_stretcher.html ServoCity]] or [[http://www.robotmarketplace.com/products/0-FRMRT180.html RobotMarketPlace]] or buy a 180° servo [[http://www.servocity.com/html/hs-645mg_ultra_torque.html ServoCity]] or [[http://www.modellbau-bichler.com/servobeckers100s180gradjr-p-8221.html?osCsid=b3f7a1d078e0fa1d0433e29ed16da866 Becker]]

	The Paparazzi software makes planes circle clockwise (use negative radius for counter-clockwise) so the default view is to the right side of the plane. The pan servo neutral makes the camera look to the right with 0° given, 90° is to the back and -90° is to the front. The tilt servo neutral makes the camera look down with 0° given, 90° is to the right and -90° is to the left (all values are used in radian in the software). If the camera looks to the right side of the plane, the picture is upright. It is upside down when looking to the left. That is corrected with the MPEG decoding software on the laptop by mirroring. The pan servo is fixed in the plane and the tilt servo is moved by the pan servo and moves the camera.		The Paparazzi software makes planes circle clockwise (use negative radius for counter-clockwise) so the default view is to the right side of the plane. The pan servo neutral makes the camera look to the right with 0° given, 90° is to the back and -90° is to the front. The tilt servo neutral makes the camera look down with 0° given, 90° is to the right and -90° is to the left (all values are used in radian in the software). If the camera looks to the right side of the plane, the picture is upright. It is upside down when looking to the left. That is corrected with the MPEG decoding software on the laptop by mirroring. The pan servo is fixed in the plane and the tilt servo is moved by the pan servo and moves the camera.

Microuav: /* Pan/Tilt Video Camera Mechanism */

2010-05-10T22:31:15Z

Pan/Tilt Video Camera Mechanism

← Older revision		Revision as of 16:31, 10 May 2010
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	It make use of cam.c and point.c		It make use of cam.c and point.c

	When you load cam.xml in your settings of your aircraft session you can tune this:		When you load cam.xml in your settings of your aircraft session you can tune this: