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https://github.com/azaion/autopilot.git
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Nffj84
59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
#pragma once
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#include <QHash>
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#include <QString>
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enum MESSAGE_IDX { STX = 0, CTRL = 2, Data_len = 3, SEQ = 5, CMD_ID = 7, DATA = 8 };
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enum COMMAND_ID {
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TURN_TO_DEGREES = 1,
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TURN_TO_PIXEL,
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ZOOM_TO_X,
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ACQUIRE_CAMERA_CODEC_SPECS,
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ACQUIRE_CURRENT_ZOOM,
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ACQUIRE_ATTITUDE_DATA,
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AUTO_CENTER,
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ZOOM_MOST,
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ZOOM_LEAST,
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FOCUS_MOST,
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FOCUS_LEAST,
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FOCUS_AUTO,
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ROTATE_UP,
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ROTATE_DOWN,
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ROTATE_RIGHT,
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ROTATE_LEFT,
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ROTATE_STOP,
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ACQUIRE_MAX_ZOOM_VALUE,
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TAKE_PICTURES,
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TAKE_VIDEO,
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ROTATE_100_100,
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ACQUIRE_GIMBAL_STATUS,
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ACQUIRE_HW_INFO,
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ACQUIRE_FIRMWARE_VERSION,
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MODE_LOCK,
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MODE_FOLLOW,
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MODE_FPV,
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ENABLE_HDMI,
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ENABLE_CVBS,
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DISABLE_HDMI_CVBS,
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ACQUIRE_RANGE_DATA,
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RUN_TARGET_LOCATION_TEST
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};
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#define CAMERA_ASPECT_RATIO 1.777777778f
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#define CAMERA_FIELD_OF_VIEW_DIAGONAL 93.0f
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#define CAMERA_FIELD_OF_VIEW_HORIZONTAL 81.0f
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#define CAMERA_FIELD_OF_VIEW_VERTICAL 62.0f
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#define CAMERA_FOCAL_LENGTH 21
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#define CAMERA_RESOLUTION_WIDTH 1280
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#define CAMERA_RESOLUTION_HEIGHT 720
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#define GIMBAL_YAW_MIN -135.0f
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#define GIMBAL_YAW_MAX 135.0f
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#define GIMBAL_PITCH_MIN -90.0f
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#define GIMBAL_PITCH_MAX 25.0f
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#define SERIAL_RESPONSE_WAIT_TIME 500
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#define SERIAL_PORT "/dev/ttyUSB0"
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#define FIFO_WHO_AM_I "CAM"
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#define FIFO_TO_GIMBAL "/tmp/fifo_to_a8_gimbal"
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#define FIFO_FROM_GIMBAL "/tmp/fifo_from_a8_gimbal"
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