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[Paparazzi-devel] Digital camera and a small problem with PolySurvey()

From: chris
Subject: [Paparazzi-devel] Digital camera and a small problem with PolySurvey()
Date: Sun, 28 Jun 2009 13:20:27 +0300
User-agent: Thunderbird (X11/20090608)

First i want to congratulate the team for winning and beating those costly commercial
autopilots, i really feel proud for them.
Secondly i want to report what i found from using the PolySurvey() function.
The polygon waypoints don't get their altitude updated from the
     <call fun="NavSetGroundReferenceHere()"/>
call like most of the waypoints and i think that other waypoints like the "TARGET" waypoint
don't either.
In order to make everything work alright i had to use the "NavSetWaypointAlt()" function
like below:
   <block name="Geo init">
     <while cond="LessThan(NavBlockTime(), 10)"/>
     <call fun="NavSetGroundReferenceHere()"/>
     <call fun="NavSetWaypointHere(WP_HOME)"/>
     <call fun="NavSetWaypointAlt(WP_TARGET, ground_alt)"/>
     <call fun="NavSetWaypointAlt(WP_TD, ground_alt)"/>
     <call fun="NavSetWaypointAlt(WP_S1, ground_alt+100)"/>
     <call fun="NavSetWaypointAlt(WP_S2, ground_alt+100)"/>
     <call fun="NavSetWaypointAlt(WP_S3, ground_alt+100)"/>
     <call fun="NavSetWaypointAlt(WP_S4, ground_alt+100)"/>
Am i right or i am doing something wrong?

I also managed to integrate a 10MP camera that is (almost) totally controlled from the autopilot with functions for power on and off, repeated fixed number of shots and more by rewriting the "dc.h" and "dc.c" files. I tested them and everything is working fine so if there is a way i would like to submit them for further examination and integration.
Here is one of the shots i took fully automatic through the flight plan:

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