[Paparazzi-devel] Digital camera and a small problem with PolySurvey()

[chris]

First i want to congratulate the team for winning and beating those 
costly commercial
autopilots, i really feel proud for them.
Secondly i want to report what i found from using the PolySurvey() function.
The polygon waypoints don't get their altitude updated from the
     <call fun="NavSetGroundReferenceHere()"/>
call like most of the waypoints and i think that other waypoints like 
the "TARGET" waypoint
don't either.
In order to make everything work alright i had to use the 
"NavSetWaypointAlt()" function
like below:
   <block name="Geo init">
     <while cond="LessThan(NavBlockTime(), 10)"/>
     <call fun="NavSetGroundReferenceHere()"/>
     <call fun="NavSetWaypointHere(WP_HOME)"/>
     <call fun="NavSetWaypointAlt(WP_TARGET, ground_alt)"/>
     <call fun="NavSetWaypointAlt(WP_TD, ground_alt)"/>
     <call fun="NavSetWaypointAlt(WP_S1, ground_alt+100)"/>
     <call fun="NavSetWaypointAlt(WP_S2, ground_alt+100)"/>
     <call fun="NavSetWaypointAlt(WP_S3, ground_alt+100)"/>
     <call fun="NavSetWaypointAlt(WP_S4, ground_alt+100)"/>
   </block>
Am i right or i am doing something wrong?

I also managed to integrate a 10MP camera that is (almost) totally 
controlled from the autopilot
with functions for power on and off, repeated fixed number of shots and 
more by rewriting the "dc.h" and "dc.c" files.
I tested them and everything is working fine so if there is a way i 
would like to submit them for further examination and integration.
Here is one of the shots i took fully automatic through the flight plan:
http://www.rcgroups.com/forums/showpost.php?p=12543601&postcount=1755
Chris