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

[Pascal Brisset]

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It is out of date (have a look in conf/flight_plans/flight_plan.dtd for 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