fix hardcoded cam footprint field of view and AGL #2103

rijesha · 2017-08-16T21:57:08Z

The cam footprint angle of view can now be adjusted in the airframe.xml file. The old cam footprint math used height in MSL not AGL. In addition the footprint did not adjust properly when the aircraft pitched or rolled.

rijesha · 2017-08-16T22:02:13Z

I mention of few of these fixes in a comment for issue #172

gautierhattenberger · 2017-08-18T12:06:43Z

sw/ground_segment/cockpit/live.ml

@@ -326,19 +333,6 @@ let mark = fun (geomap:G.widget) ac_id track plugin_frame ->
            let png = sprintf "%s/var/logs/%s" Env.paparazzi_home name in
            GdkPixbuf.save png "png" dest;
            incr i;
-
-      (* Computing the footprint: front_left and back_right *)


this part is actually not related to the camera footprint but to the "mark" button and screenshot tool. See http://wiki.paparazziuav.org/wiki/GCS#Actions
please add back this code.

oops my bad.

gautierhattenberger · 2017-08-18T12:17:58Z

sw/ground_segment/cockpit/live.ml

@@ -1521,6 +1532,45 @@ let get_shapes = fun (geomap:G.widget)_sender vs ->
 let listen_shapes = fun (geomap:G.widget) ->
  safe_bind "SHAPE" (get_shapes geomap)

+let get_cam_status = fun (geomap:MapCanvas.widget) _sender vs ->


The point the camera is pointing at (taking into account the bank angles and the ground alt) is already computed in the server program: https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/tmtc/server.ml#L165
Your current position and this cam point should be enough to compute your polygon without extra information (maybe AGL).
Also be careful that at large bank angle, the projection of the footprint may send some corner very "far". I don't know how GTK canvas are dealing with this.

Isn't there some ambiguity if the camera is on a gimbal? It is unknown if the camera has any rotation in the direction it is pointing. Would it be better to move all the calculations into the server program and modify the cam status message to transmit the 4 corners of footprint? My current code also does not take into account any gimbal effects that the original may have, because the gimbal information is only being read on the server.

If a point can't be plotted, the GCS will stop updating the footprint and retain the last plotted footprint. Once the aircraft has leveled off and a footprint can be plotted, then the footprint continues to update. I have performed multiple flights with this code without any GCS error messages or crashing.

Even without a gimbal just a camera point is not enough. An aircraft traveling north at a 30deg pitch, will point a camera is the same direction as an aircraft traveling east with a 30deg roll.

The gimbal information (pan and tilt angle) are currently taken from the telemetry CAM message (if sent by the drone, assuming 0 by default). With this, the server agent is computing a target point. Isn't this enough with altitude above ground to compute the footprint ? I don't really like the idea of sending the coordinates of the corners of the footprint. I prefer either a target point or absolute angles.

The horizontal field of view and the vertical field of view of the camera may not be the same. We need one program to read the fields from airframe.xml. If the camera is pointed straight down(tilt angle of 0), the target point will be directly under the aircraft no matter what angle the camera is panned at. Due to pan angle the footprint may be a wide rectangle, a skinny rectangle, or a diamond shape. This test case can then be applied to a variety of tilt angle. Am I missing something with the target point? The pieces of information we need to fully calculate a footprint are ac.pitch, ac.roll, ac.yaw, ac.agl, ac.pos, cam.pan, cam.tilt, cam.hfv, and cam.vfv. IMHO the server should send cam.pan and cam.tilt messages to the GCS, GCS will then compute the footprint (having all the information), GCS will then send the the information to mapTrack.

gautierhattenberger · 2017-08-18T12:18:55Z

sw/ground_segment/cockpit/live.mli

@@ -54,6 +55,12 @@ type aircraft = private {
    mutable in_kill_mode : bool;
    mutable speed : float;
    mutable alt : float;
+    mutable agl : float;


I suspect that in fact only agl is needed for your needs

gautierhattenberger · 2017-08-18T12:20:07Z

sw/lib/ocaml/mapTrack.ml

    match last, cam_on with
        Some last_ac, true ->
-          let (cam_xw, cam_yw) = geomap#world_of cam_wgs84


the math that you have in your get_cam_status function could go here as well

gautierhattenberger · 2017-08-18T12:20:35Z

sw/lib/ocaml/mapTrack.ml

                            `OUTLINE_COLOR color];
-          cam#affine_absolute (affine_pos_and_angle 1.0 cam_xw cam_yw cam_heading);
+          (*cam#affine_absolute points; *)


remove if not needed anymore

rijesha · 2017-09-08T16:27:51Z

Im going to close this pull request and make the suggested changes and open it again

gautierhattenberger · 2017-09-15T10:59:41Z

@rijesha sorry I couldn't help much, I'm really busy these days

rijesha · 2017-10-08T06:51:17Z

@gautierhattenberger I have moved all of the code to the server e3abd26. I have also used quaternions to handle a gimbal. Commit a6126a0 is how the cam footprint code would look like it it were in the GCS. I decided to put it in the server so that the cam footprint information is broadcasted out for other programs to easily use. I still need to clean up some of the code, but I figured I should get your opinion on whether the code is better in the server or the gcs before proceeding.

rijesha · 2017-10-08T06:52:39Z

sw/ground_segment/tmtc/server.ml

+                        "cam_lat_bl", PprzLink.Float ((Rad>>Deg)geo_3.posn_lat);
+                        "cam_lon_bl", PprzLink.Float ((Rad>>Deg)geo_3.posn_long);
+                        "cam_lat_br", PprzLink.Float ((Rad>>Deg)geo_4.posn_lat);
+                        "cam_lon_br", PprzLink.Float ((Rad>>Deg)geo_4.posn_long);
                        "cam_target_lat", PprzLink.Float ((Rad>>Deg)twgs84.posn_lat);


@gautierhattenberger Is there a better way of doing this? My OCaml is not good enough to figure out how to make arrays.

you can send comma-separated values like DL_VALUES (https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/tmtc/server.ml#L204 and https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/cockpit/live.ml#L956)

gautierhattenberger

If you manage to use an array to send the cam footprint, that would be better I think, so more complex shapes could be used in the future if needed.

gautierhattenberger · 2017-10-10T21:23:08Z

sw/ground_segment/tmtc/server.ml

+          and br_rotated = multiply_quaternion acRot (multiply_quaternion gimRot br) 
+          and bl_rotated = multiply_quaternion acRot (multiply_quaternion gimRot bl) in
+
+          let absF (f:float) = if f > 0.0 then f else (f *. -1.0) in


it already exists with abs_float

gautierhattenberger · 2017-10-10T21:33:01Z

sw/ground_segment/tmtc/server.ml

+                        "cam_lat_bl", PprzLink.Float ((Rad>>Deg)geo_3.posn_lat);
+                        "cam_lon_bl", PprzLink.Float ((Rad>>Deg)geo_3.posn_long);
+                        "cam_lat_br", PprzLink.Float ((Rad>>Deg)geo_4.posn_lat);
+                        "cam_lon_br", PprzLink.Float ((Rad>>Deg)geo_4.posn_long);
                        "cam_target_lat", PprzLink.Float ((Rad>>Deg)twgs84.posn_lat);


you can send comma-separated values like DL_VALUES (https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/tmtc/server.ml#L204 and https://github.com/paparazzi/paparazzi/blob/master/sw/ground_segment/cockpit/live.ml#L956)

gautierhattenberger · 2017-10-10T21:39:50Z

sw/ground_segment/cockpit/live.ml

@@ -406,6 +414,16 @@ let get_speech_name = fun af_xml def_name ->
    fvalue "SPEECH_NAME" default_speech_name
  with _ -> default_speech_name

+let get_cam_aov = fun af_xml ->


Do you really need the cam field of view in the GCS since you are doing the computation in server agent ? It doesn't seemed to be used here anymore. Some question for roll, pitch, etc

Thanks for the review! I will clean up all of my code and removed any extra variables/functions I no longer need.

rijesha · 2017-10-14T05:13:18Z

sw/ground_segment/cockpit/live.ml

+
+    let target_wgs84 = { posn_lat = (Deg>>Rad)(a "cam_target_lat"); posn_long = (Deg>>Rad)(a "cam_target_long") } in
+
+    let geo_1 = { posn_lat = (Deg>>Rad)(List.nth lats 0); posn_long = (Deg>>Rad)(List.nth longs 0) } 


@gautierhattenberger In the example you gave me for DL_Settings Arrays were used. I don't think there should be too much performance degradation keeping it in lists. Please correct me if I am wrong. Do i actually need to put exception handling in for List.nth? Will safe_bind catching it and notifying the user be sufficient?

Considering the sizes involved, list or arrays should not make a big difference.
The safe_bind should catch exceptions and print them.

rijesha · 2017-10-17T23:20:44Z

Ok. I think this is now ready to be pushed. Pprzlink PR paparazzi/pprzlink#59

gautierhattenberger · 2017-10-18T20:49:46Z

please update for the correct PPRZLINK version

gautierhattenberger · 2017-10-18T21:11:59Z

you should also rebase on top of master to solve the conflicts, otherwise I can't merge it

…m_footprint_shp

rijesha · 2017-10-18T21:44:53Z

Oops I didn't rebase. I just merged master in. It should still work though?

rijesha added 2 commits August 16, 2017 14:51

updated cam footprint

deef8d5

Removed old cam footprint

30bb942

gautierhattenberger requested changes Aug 18, 2017

View reviewed changes

reverted removal of video footprint

45f1ec2

rijesha closed this Sep 8, 2017

rijesha added 2 commits October 7, 2017 22:47

Added Quaternions for rotations with gimbals

a6126a0

Moved cam footprint code to server

e3abd26

rijesha reopened this Oct 8, 2017

rijesha commented Oct 8, 2017

View reviewed changes

gautierhattenberger requested changes Oct 10, 2017

View reviewed changes

Fully removed unecessary changes from live.ml, New cam_status message

68dec22

rijesha commented Oct 14, 2017

View reviewed changes

rijesha mentioned this pull request Oct 14, 2017

improve cam handling #172

Closed

renamed cam variable from phi to psi to be more representative

dcecccd

rijesha mentioned this pull request Oct 17, 2017

Cam footprint shp paparazzi/pprzlink#59

Merged

Change variables names to pan and tilt

66826e4

updated pprzlink

c8fe248

Merge branch 'master' of git://github.com/paparazzi/paparazzi into ca…

235a83e

…m_footprint_shp

gautierhattenberger approved these changes Oct 18, 2017

View reviewed changes

gautierhattenberger merged commit d56e097 into paparazzi:master Oct 18, 2017

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fix hardcoded cam footprint field of view and AGL #2103

fix hardcoded cam footprint field of view and AGL #2103

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rijesha commented Oct 18, 2017


		let target_wgs84 = { posn_lat = (Deg>>Rad)(a "cam_target_lat"); posn_long = (Deg>>Rad)(a "cam_target_long") } in

		let geo_1 = { posn_lat = (Deg>>Rad)(List.nth lats 0); posn_long = (Deg>>Rad)(List.nth longs 0) }

fix hardcoded cam footprint field of view and AGL #2103

fix hardcoded cam footprint field of view and AGL #2103

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rijesha commented Oct 17, 2017

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