Discussions

APM photo taken automatically at waypoint

Posted by Brett Glossop on October 11, 2010 at 6:53am

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.

WilsonSeaScouts_Oct2010_(7)c.jpg

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apm, photo, waypoint

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Replies

Ethan Smith August 12, 2018 at 8:46pm

Great shot you're very good at what you're doing. Keep it Up.
Feri Ametia Pratama February 11, 2011 at 12:14am

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?

Thanks,

Feri.
Ritchie October 23, 2010 at 4:20pm

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;
}
}else{
wp_radius = 20;
servo_out[CH_RUDDER] = 45;
}
}
Developer

Max Levine October 12, 2010 at 11:37am

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

Chris Anderson October 11, 2010 at 5:31pm

Excellent! Brett, here's the page to add your event-driven photo tutorial.
arashi October 11, 2010 at 3:40pm

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/.
arashi October 11, 2010 at 12:40pm

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.

Thanks
MikeInFrance October 11, 2010 at 8:12am

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.....