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https://github.com/azaion/autopilot.git
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Nffj84
65 lines
1.6 KiB
C
65 lines
1.6 KiB
C
/**
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* This is a defines header for Siyi Gimbal Cameras.
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* Other cameras might need their own defines header.
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*/
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#pragma once
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#define AI_ENGINE_CAMERA_ASPECT_RATIO 1.777777778f
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#define AI_ENGINE_CAMERA_FIELD_OF_VIEW_DIAGONAL 93.0f
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#define AI_ENGINE_CAMERA_FIELD_OF_VIEW_HORIZONTAL 81.0f
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#define AI_ENGINE_CAMERA_FIELD_OF_VIEW_VERTICAL 62.0f
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#define AI_ENGINE_CAMERA_FOCAL_LENGTH 21
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#define AI_ENGINE_CAMERA_RESOLUTION_WIDTH 1280
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#define AI_ENGINE_CAMERA_RESOLUTION_HEIGHT 720
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#define AI_ENGINE_GIMBAL_YAW_MIN -135.0f
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#define AI_ENGINE_GIMBAL_YAW_MAX 135.0f
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#define AI_ENGINE_GIMBAL_PITCH_MIN -90.0f
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#define AI_ENGINE_GIMBAL_PITCH_MAX 25.0f
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#define AI_ENGINE_SERIAL_RESPONSE_WAIT_TIME 500
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#define AI_ENGINE_SERIAL_PORT "/dev/ttyUSB0"
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#define AI_ENGINE_UDP_WHO_AM_I "CAM"
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#define AI_ENGINE_UDP_PORT 26662
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#define AI_ENGINE_CAMERA_INITIAL_ZOOM 1.0f
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#define AI_ENGINE_GIMBAL_INITIAL_PITCH -45.0f
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#define AI_ENGINE_GIMBAL_INITIAL_ROLL 0.0f
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#define AI_ENGINE_GIMBAL_INITIAL_YAW 0.0f
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enum SERIAL_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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