PWM controlled shutter

This article mainly describes the use of PWM to control the camera to take pictures and C-RTK2 to record POS data; the general camera is a relay to trigger the shutter.

ArduPilot firmware

[!NOTE] The flight control parameters are set in MissionPlanner >"Configuration"> All Parameter Table/Parameter Book. After modification, please click the write button on the right and restart the flight control.

Enable UAVCAN

[!NOTE] The following settings are to enable UAVCAN and provide RTK/navigation data for the flight controller; if you only use C-RTK 2 as PPK, this operation is not required.

  • CAN_D1_PROTOCOL =1
  • CAN_P1_DRIVER =1(Enable CAN1）
  • CAN_D2_PROTOCOL =1
  • CAN_P2_DRIVER =1(Enable CAN2）
  • GPS_TYPE =9 or GPS_TYPE2= 9（Enable CAN GPS)

Set the flight control camera shutter

  • CAM_TRIGG_TYPE=0（0=PWM ，1=relay）
  • CAM_DURATION=10（uration that shutter is held open,0~50(1=100ms)）
  • CAM_SERVO_ON=1900
  • CAM_SERVO_OFF=1100
  • CAM_AUTO_ONLY=1
  • Servo14_Function=10（Define the shutter trigger pin, take the flight control AUX6/M14/A14 pin as an example）
  • BRD_PWM_COUNT=6（Take the V5+ A6 pin as an example, the firmware version below AP4.10 does not need to be set in a higher version; it should be equal to or greater than the pin number）

C-RTK2 Parameters

When using PWM triggering, you need to modify the following parameters of C-RTK2:

  • UAV_ENABLE=1（Enable camera shutter input）
  • UAV_MODE=1（PWM input mode）
  • UAV_DURATION=CAM_DURATION（flight control parameters）
  • UAV_SERVO_ON=CAM_SERVO_ON（flight control parameters）
  • UAV_SERVO_RATE=SERVO_RATE（flight control parameters）
  • CAM_DURATION=10（Shutter ON time）
  • CAM_POLARITY=0（0:low,1:high）
  • CAM_FEEDBACK_TYPE=1（1 when the hot shoe triggers to record pos, and 0 when the shutter records pos）
  • CAM_ST=0（Shutter compensation time, set to 0 when using hot shoe）

Test shutter trigger

  • Trigger with remote control:
    RC?_OPTION=9(?= Remote control shutter trigger channel, such as RC7_OPTION=9, then the remote control channel 7 is set to high to take a photo, the range is RC6~RC12).
  • Triggered with a ground station:
    • Missionplanner>Data>Actions, select Trigger_camera, click to execute the action to trigger the camera to take a picture.

PX4 firmware

[!NOTE] The flight control parameters are set in the parameters of QGroundcontrol. After modification, please click the ok button on the right and restart the flight control.

Enable UAVCAN

[!NOTE] The following settings are to enable UAVCAN and provide RTK/navigation data for the flight controller; if you only use C-RTK 2 as PPK, this operation is not required.

  • UAVCAN_ENABLE=Sensors Automatic Config (automatically configure node iD)

Set flight control shutter trigger

  • TRIG_MODE=1
  • TRIG_INTERFACE=4 (PWM)
  • TRIG_PWM_SHOOT=1900
  • TRIG_PWM_NEUTRAL=1500
  • TRIG_PINS=?（trigger pin. If triggering on AUX5 and AUX6, the set value should be 56）
  • TRIG_ACT_TIME=200（trigger time）

C-RTK2 Parameters

When using PWM to control shutter triggering, you need to modify the following parameters of C-RTK2:

  • UAV_ENABLE=1（Enable camera shutter input）
  • UAV_MODE=1（PWM）
  • UAV_DURATION=TRIG_ACT_TIME/100（flight control parameters）
  • UAV_SERVO_ON=TRIG_PWM_SHOOT（flight control parameters）
  • UAV_SERVO_RATE=PWM_AUX_RATE（flight control parameters）
  • CAM_DURATION=10
  • CAM_POLARITY=0
  • CAM_FEEDBACK_TYPE=11 when the hot shoe triggers to record pos, and 0 when the shutter records pos)
  • CAM_ST=0（Shutter compensation time, set to 0 when using hot shoe）

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