APM photo taken automatically at waypoint

Yes this is one photo of 8 taken on my very first successful photo taking APM mission, today.

Photo taken after waypoint achieved using APM cmd.

More details to come later (probably in wiki/manual)

A couple of things about the photo mission I'm not happy with and shall attempt to rectify.

Anybody else taken some photos at waypoints? Love to see them.



You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


  • Great shot you're very good at what you're doing. Keep it Up.

  • Hi Brett

    I tested your testing code (ground) several times, but the shutter servo did not response. I used the exact same mission code as you use, with my own coordinates, nothing happen when im inside the loiter coordinates.

    Do you have any idea what is wrong with my setting?





  • Could code for these sorts of events be placed into a "activity.pde" so we can call them during one of the loops (medium or slow).
    All the activities in one place like this:
    void waypoint_check(void)
    if(wp_index > 3 && wp_index <=10){ //between these waypoints it will do what you want
    wp_radius = 10;
    if(wp_distance < wp_radius){ //get as close as it can for you
    //call a function below

    void take_picture(void)
    servo_out[CH_6] = -45 //Camera click
    delayMicroseconds(5000) //delay
    servo_out[CH_6] = 0 // Return servo to mid position

    void egg_waypoint(void)
    float temp = (float)(current_loc.alt - home.alt) * .01;
    egg_dist = sqrt(temp / 4.903) * (float)ground_speed *.01;

    if(wp_index == 3){
    wp_radius = 10;
    if(wp_distance < egg_dist){
    servo_out[CH_RUDDER] = -45;
    wp_radius = 20;
    servo_out[CH_RUDDER] = 45;
  • Developer
    I'd say, set your camera to "infinity" focus, you don't need to do "half-shutter" (soft-click) it will just take picture.
    And set the camera to manual mode,it will speedup the process, (if you not planning to include sky in your picture)

    "infinity" focus (after 3-5 meters on small cameras focus have no effect, it just trying to focus for nothing)
    aperture should go around F8, best for wide shots, it removes fogy halo effect.

    ISO can be 300-400 or even lower if the sun is out :) don't go over 400 it will get noisy
    shutter speed should be high is possible

    again if you shooting ground without the sky your light condition is not changing,
    so you can get correct exposer on the ground..

    i hope it helps :)
  • 3D Robotics
    Excellent! Brett, here's the page to add your event-driven photo tutorial.
  • I would be fun to loiter around an area or building at different altitudes with that camera angle and put the resulting images in http://photosynth.net/.
  • Nice. What type of camera? Did you use the IMU relay as a trigger? How did you modify the camera?
    How did you set up the software to trigger at the waypoint?

    This is the first goal of mine.

  • Noticed you took your pic NOT at vertical. If trying to do stitching. you should take vertical pics since they are geo-referenced by the waypoints.

    Just a thought.....
This reply was deleted.