如果我压弯不够快,贫穷就会追上我
0. 一些概念
- 如何控制云台?
- 如何控制快门 ?
1. 云台
- 控制相机转动的机构叫做云台;
- 最多支持 3 axis 的云台;
2. SIYI 相机 ZR10, ZR30, A8mini
注意:ArduPilot 4.3.1 及以上版本;
2.1 与飞控的接线
串口连接
下面是ZR10, ZR30 and A8 的接线示意图:
将 RX, TX and GND 与飞控的串口连接,云台相机的电源单独供电(电压如上图),不使用串口的供电;
2.2 参数配置
以串口2为例:
- SERIAL2_PROTOCOL = 8
- SERIAL2_BAUD = 115
- MNT1_TYPE to = 8
- CAM1_TYPE to = 4,当 ardupilot version >= 4.4 时
- CAM_TRIGG_TYPE to = 3 ,当 ardupilot version <= 4.3 时
- MNT1_PITCH_MIN to -90 最小俯仰角
- MNT1_PITCH_MAX to 25 最大俯仰角
- MNT1_YAW_MIN to -135 最小偏航角
- MNT1_YAW_MAX to 135 最大偏航角
云台和相机的控制通道配置:
注意:siyi云台不支持roll 轴的控制!!
- MNT1_RC_RATE to 90 (deg/s) ,云台角速度
- RC6_OPTION = 213 (“Mount Pitch”) ,俯仰控制
- RC7_OPTION = 214 (“Mount Yaw”) ,偏航控制
- RC8_OPTION = 163 (“Mount Lock”) 控制云台的heading是保持不动还是跟随飞机机体,即follow和lock;
- RC9_OPTION = 9 (“Camera Trigger”) ,拍照
- RC9_OPTION = 166 (“Camera Record Video”) ,录像
- RC9_OPTION = 167 (“Camera Zoom”) to zoom in and out ,变距
- RC9_OPTION = 168 (“Camera Manual Focus”) to adjust focus in and out,手动对焦
- RC9_OPTION = 169 (“Camera Auto Focus”) to trigger auto focus,自动对焦
3. 云台/相机的控制模式
-
Retract Mode
MNT1_DEFLT_MODE=0;
云台的roll, pitch, yaw 由这几个参数决定:MNT1_RETRACT_X, MNT1_RETRACT_Y, MNT1_RETRACT_Z ; -
Neutral Mode
MNT1_DEFLT_MODE=1;
云台的roll, pitch, yaw 由这几个参数决定:MNT1_NEUTRAL_X, MNT1_NEUTRAL_Y, MNT1_NEUTRAL_Z ; -
MAVLink Targeting
MNT1_DEFLT_MODE=2;
云台的roll, pitch, yaw 由 MAVLink commands 决定: -
RC Targeting
MNT1_DEFLT_MODE=3
云台的roll, pitch, yaw 由 RCx_OPTION(遥控器) 决定,例如 RC6_OPTION = 213 (“Mount Pitch”) ; -
GPS Point
MNT1_DEFLT_MODE=4
same as MAVLink targeting but the gimbal points at a specific location. Users never need to actively set the gimbal to this mode; -
SysId Target
MNT1_DEFLT_MODE=5
the gimbal points at another vehicle with a specified MAVLink system id. Users never need to actively set the gimbal to this mode and there are no known GCSs that support setting the system id; -
Home Location
MNT1_DEFLT_MODE=6
the gimbal points at home (normally its takeoff location);
可通过参数 MNT1_DEFLT_MODE 来设置模式;
或者通过地面站来设置模式: