KAP & UAV Exposure Control Intervalometer Script

waterwingz

dowallin
1.Focus: with the Focus@Infinity set to either [ ] or [@] distant images are quite blurry, yet close up images (things within ~12 inches) are quite sharp. After stopping the script, I get a brief confirmation onscreen of key parameters and regardless of whether the Focus @ Infinity option is set to [ ] or [@], it always tells me that focus is set to infinity. But the images are NOT consistent with this. Again, photos of distant landscapes are blurry and photo consisting only of things close in are quite sharp. I have all of the AF settings set to off (using the Canon menu) and I've also shut off the Image stabilization feature.

Getting an S100 to focus at infinity using CHDK has been an ongoing issue.
https://chdk.setepontos.com/d/12062/1
It was so bad that I bought an S100 myself (refurbished so the price was right) just so I could work on the problem. My S100 turned out to have no such problems and focuses well with the Focus @ Infinity [ * ] setting. Some other people have reported focus problem but others report no problem. It's a mystery.

So the only thing I can suggest here is to not select the scripts focus at infinity option and instead use the built-in manual focus capability of the S100 and set it to infinity.

Update : you could try and verify that you have a "focus at infinity" problem by using the script to shoot from a stable position on the ground. With the camera sitting still, let it take a few of shots of some distant scene that's not moving using the script's Focus @ Infinity [ * ] option. If those look good, you might want to check that your camera's vibration isolation in its mounting on your UAV is adequate. The S100 focus mechanism is prone to bad focus in the presence of vibration.

See : DYI Drones : Let's talk Canon Cameras

2. Shot Interval: I can't seem to take photos any faster than once every 4 seconds or so. I've tried setting the shot interval to 2 and I've also tried setting it to "Fast". Either way, the best I can get is an interval of about 4 seconds. This simple isn't fast enough to get overlapping photos with the fixed-wing UAV that I'm using. Note that I've also tried the basic Interval.lua script but this also gives me a shot interval of about 4 seconds.

That's a bit slow for an S100. I can get a 2 second per shot rate quite easily with mine. Two things that will change that is saving RAW/DNG images and using high ISO values ( >400 IIRC). Also, if you do not have focus locked it will take a little longer to shoot each time.

If you have seen the "Fast" setting in the Shot Interval parameters then I assume you are running the v3.6 beta 15 version of the script? That will also shoot in continuous mode if you have some way to control shooting from your R/C rig or flight controller. It was tested and found to get about two shots per second using that feature. Using a pixhawk flight controller we were even able to sync shooting to actual position over the ground. I need to document how to set that up prior to the official release of 3.6

dowallin

Thanks Waterwingz! Very helpful.

RE the focus@infinity issue: I have 5 S100s (long story) I took your suggestions and took a bunch of photos today from the ground. I used the same SD card with KAP_UAV loaded on it and ran it in each camera. All canon settings the same in all 5 cameras. Focus@infinity set to [*]. For each camera, I took a series of 5 images of a distant landscape scene, then swung the camera down to take 2 images of an object that was about 12 inches away. After stoping KAP_UAV, i did get a "focus@infinity" confirmation message onscreen.

The results were pretty clear. For 4 of the cameras, the distant images were sharp and the close-up was blurry but not super bad. For 1 camera, the distant images were blurry and the close-up images were sharp. I flew this camera last week in my Aeromao Aeromapper fixed-wing UAV and less than 5% or the images were sharp with the rest very poor. The week before I flew one of the other S100s and I'd say that 95-98% of the images were sharp and clear. In both cases I was using the older interval.lua script. My conclusion is that i have one "problem" camera. This camera has had a hard life. I crunched the lens in a previous crash and recently replaced the lens myself. This repair was surprisingly cheap ($25 for a new lens) and easy using online instructions. But it now seems likely that I either got a defective replacement lens or that I did something wrong in my first ever camera repair. Or maybe this is just one of those problematic S100s and that this is unrelated to my repair.

RE the trigger interval: After re-reading the camera settings posted on the KAP_UAV page, I noticed the "Review" setting. I had skipped over this one and had it set at the default 2 seconds rather than the 0 seconds specified in the KAP_UAV instructions. When I made this change, I'm now getting trigger intervals of around 2 seconds; just what I need.

I'm now eager to see if I can get the autopilot in my UAV to trigger the camera. My UAV uses the APM2.6 autopilot. I have previously tried following the instructions posted here to do this:
http://diydrones.com/profiles/blogs/apm-to-chdk-camera-link-tutorial
or here:
http://planner.ardupilot.com/wiki/common-apm-to-chdk-camera-link-tutorial/

I made the cable described here along with the script created by Event38 but could not get it to work.

I'll now try it using the KAP_UAV script. I assume that I do this by setting the USB Shot Control to One shot. Correct?

I'd be interested in hearing from others who have used this successfully.

waterwingz

dowallin
But it now seems likely that I either got a defective replacement lens or that I did something wrong in my first ever camera repair. Or maybe this is just one of those problematic S100s and that this is unrelated to my repair.

Does the problematic camera focus successfully at infinity on the ground with the camera in Autofocus mode?

One of my pet theories is that the auto focus mechanism adjusts the lens in a feedback loop to get the sharpest focus. That lens position might not correspond to what the camera is calibrated to think is infinity. As such, it will autofocus correctly and 99.9% of all camera owners will never know the distance calibration is inaccurate. With your replaced lens mechanism, that might be what is happening?

I made the cable described here along with the script created by Event38 but could not get it to work.

AFAIK, that cable only sources 3.3V from the pixhawk, which may not be enough to trigger your camera. There is a long thread about this on the diydrone forum leading to this circuit that you can build yourself or source from tuffwing

I'll now try it using the KAP_UAV script. I assume that I do this by setting the USB Shot Control to One shot. Correct?

There are several ways to interface a flight controller to the script using the USB Shot Control Setting :

On/Off - takes pictures at the specified interval while the control signal from the flight controller is asserted
OneShot - takes one picture each time the control signal from the flight controller is asserted
Pixhawk - takes the picture when the servo channel asserts for 3 mSec (works in continuous mode).

If one shot every two seconds is good enough for what you want, any mode will do. To get one shot per second or faster you really need the Shot Interval set to Burst and Pixhawk mode operational.

Naccio

waterwingz wrote:

dowallin wrote:
I made the cable described here along with the script created by Event38 but could not get it to work.

AFAIK, that cable only sources 3.3V from the pixhawk, which may not be enough to trigger your camera. There is a long thread about this on the diydrone forum leading to this circuit that you can build yourself or source from tuffwing
[SNIP]

WW, I believe dowallin isn't using a pixhawk, but an APM 2.6. I believe the APM hardware has 5v relays, so no circuit is needed for his hardware.

dowallin

Thanks for the feedback Waterwingz and Naccio!

RE my "problem" camera: Yes, ground-based photos on Auto (with AF settings on) produce sharp photos at infinity and close up as well. So maybe this is consistent with your theory? But not sure that I'll be able to use this camera in my UAV. As I said, in my last flight with this camera and using the older "interval.lua" script and with the camera on Auto (with all AF settings on) I got lousy photos. Do you have any ideas to "fix" the problem?

RE attempting to use KAP_UAV linked to my APM2.6 for Distance-based triggering: I can't get it to work.

I have my camera running KAP_UAV with:
Shot Interval: Fast
USB Shot Control: One Shot
USB Timeout: (I've tried both 0 and 1)

On the CHDK, Main menu->CHDK Settings->Remote Parameters -> Enable Remote setting is checked.â€

I start KAP_UAV and get a "Waiting on USB" message. But the lens remains closed and no pictures are taken.

Backing up, here is what I've done:

I made the cable based on instructions here:
1. http://diydrones.com/profiles/blogs/apm-to-chdk-camera-link-tutorial

Servo plug connected to A9 on my APM2.6.

I've also referred to these two pages for additional set up info:

2. http://planner.ardupilot.com/wiki/common-apm-to-chdk-camera-link-tutorial/

3. http://planner.ardupilot.com/wiki/common-camera-shutter-with-servo/#shutter_configuration_with_apm_2x

I'm stumped. One thing that was a bit confusing from these 3 pages. Page #1 talks about going into the Full Parameters List in the Config/Tuning tab and entering several parameters, which I've done. And, as suggested for testing purposes, I've set the Cam_Trigg_Dist to 1. Zooming in on the Flight Data page in Mission Planner, I can see my plane "wandering" by several meters every few seconds due to GPS error. So this should be enough to trigger the camera.

Webpages #2 and #3 also mention going to the Camera Gimbal Configuration Screen and selecting RELAY in the Shutter dropdown list. I've done this, HOWEVER, I note that if I go to any other page in Mission Planner and then come back to the Camera Gimbal Configuration Screen, my selection of RELAY on the Shutter dropdown list seems to be lost. Maybe this is my problem? Is there something that I need to do to lock or save my selection of RELAY?

I'd be most grateful for any suggestions that you might have.

Regards,

reyalp

dowallin
Do you have any ideas to "fix" the problem?

If AF works at "infinite" distance, then it's possible you can get the distance it thinks it's focused at using get_focus() or the DOF calculator OSD and set it later using set_focus().

Alternately, you might be able to AF at a distant object and set AF Lock.

Integrating either option with waterwingz script (edit: if they work, which is not a given) is left as an exercise 😉

waterwingz

dowallin
RE my "problem" camera: Yes, ground-based photos on Auto (with AF settings on) produce sharp photos at infinity and close up as well. So maybe this is consistent with your theory?

Thanks for that update. I continue to think my theory about CHDK being able to focus a camera at infinity is pretty much determined by whether the built-in Canon focus distance information is correct. And that Canon AF does not use those values to pick the best focus.

But not sure that I'll be able to use this camera in my UAV.

Well, you do have four more .....

As I said, in my last flight with this camera and using the older "interval.lua" script and with the camera on Auto (with all AF settings on) I got lousy photos. Do you have any ideas to "fix" the problem?

Simply answer? Don't use interval.lua. That script was purposely included in the default CHDK build several years ago as the simplest example of an intervalometer script. And so that's what it does - shoots in AUTO mode at a defined interval.

OTOH, kap_uav.lua works very hard to shoot at the highest possible shutter speed for the range of ISO values you are comfortable with. Over the last couple of years, a few more features have been added. Okay, more than a few - it's probably one of the top 20 CHDK scripts in terms of sophistication. But fundamentally all that is extra and it's about getting the best exposure / focus possible on a moving platform.

RE attempting to use KAP_UAV linked to my APM2.6 for Distance-based triggering: I can't get it to work.

Sorry .. not sure I can help here in a CHDK forum. The script works AFAIK - how your flight controller works is virgin territory for me. Still, I'm willing to try and help.

I have my camera running KAP_UAV with:
Shot Interval: Fast
USB Shot Control: One Shot
USB Timeout: (I've tried both 0 and 1)

Sound okay. You might set USB timeout to something like 10 seconds during testing but 0 (or none) should work too.

On the CHDK, Main menu->CHDK Settings->Remote Parameters -> Enable Remote setting is checked.â€

The script does not care what you set in the CHDK Menus. It will configure things as needed for it to run and then reset things when done to match your CHDK menu settings.

I start KAP_UAV and get a "Waiting on USB" message. But the lens remains closed and no pictures are taken.

Given your settings, that says that the script is pretty much waiting for any 0V to 5v to 0V transistion on the USB +5V pin bfore it will start. If it's stuck there ... it's not seeing the signal.

Backing up, here is what I've done:
I made the cable based on instructions here:
1. http://diydrones.com/profiles/blogs/apm-to-chdk-camera-link-tutorial

Do you have a volt meter (or other testing device like an oscilloscope) that can confirm that the flight controller is actually sending signals to the cameras?

Servo plug connected to A9 on my APM2.6. I've also referred to these two pages for additional set up info:
2. http://planner.ardupilot.com/wiki/common-apm-to-chdk-camera-link-tutorial/
3. http://planner.ardupilot.com/wiki/common-camera-shutter-with-servo/#shutter_configuration_with_apm_2x
I'm stumped. One thing that was a bit confusing from these 3 pages. Page #1 talks about going into the Full Parameters List in the Config/Tuning tab and entering several parameters, which I've done. And, as suggested for testing purposes, I've set the Cam_Trigg_Dist to 1. Zooming in on the Flight Data page in Mission Planner, I can see my plane "wandering" by several meters every few seconds due to GPS error. So this should be enough to trigger the camera.
Webpages #2 and #3 also mention going to the Camera Gimbal Configuration Screen and selecting RELAY in the Shutter dropdown list. I've done this, HOWEVER, I note that if I go to any other page in Mission Planner and then come back to the Camera Gimbal Configuration Screen, my selection of RELAY on the Shutter dropdown list seems to be lost. Maybe this is my problem? Is there something that I need to do to lock or save my selection of RELAY?

Sorry .. I have no knowledge about APM setup so I can't help more at this point.

waterwingz

reyalp
If AF works at "infinite" distance, then it's possible you can get the distance it thinks it's focused at using get_focus() or the DOF calculator OSD and set it later using set_focus().

We've been down that route several times unsuccessfully in the Setting focus from scripts or menus forum thread.

Alternately, you might be able to AF at a distant object and set AF Lock, Integrating either option with waterwingz script (edit: if they work, which is not a given) is left as an exercise 😉

Early versions of the script did just that. You were supposed to point the camera at a distant object when you started the script and it would do a set_aflock( ) at that point to lock the focus. Would not be hard to add that back as a customized hack - not sure I'd want it as a supported feature though.

Naccio

dowallin wrote:
RE attempting to use KAP_UAV linked to my APM2.6 for Distance-based triggering: I can't get it to work.

To test your setup you will need a voltmeter. The idea is to configure your APM to raise relay A9 to 5v for 1 second whenever the GPS senses a 1m movement. In order to do this you will configure everything entirely from the "full parameter list" screen, as these are the real values read by APM (the other configuration screens modify these values and show you "pretty" descriptions).

Params values needed:
CAM_TRIGG_TYPE: 1 (relay)
CAM_DURATION: 10 (1 second)
CAM_TRIGG_DIST: 1 (shoot when the plane moves 1 meter)
CAM_RELAY_ON: 1 (raise voltage when it moves 1m)
RELAY_DEFAULT: 0 (default state for the relay is off)
RELAY_PIN: 13 (use relay A9 to signal the camera)

In the "full parameter list"screen, whenever you modify a parameter, you need to write the modified values to the APM (through the button labeled "write params"), if you don't do this your changes will not affect anything.

Once you configure your APM with these values, you must arm it, and test the "s" and "-" pins of the A9 relay with a voltmeter. Whenever the APM senses a 1m movement it should send 5v for 1 second.

Please do this and report your results.

waterwingz

Naccio
CAM_DURATION: 10 (1 second)
CAM_TRIGG_DIST: 1 (shoot when the plane moves 1 meter)

Is this actually going to take a shot once per meter? The S100's maximum shot rate (when not in continuous mode) is about one shot every two seconds. That would mean the aircraft needs to be moving slower than 30 meters/minute (or 1.8 kph). Can a fixed wing fly that slow over the ground without a huge headwind?

Naccio

waterwingz wrote:
Is this actually going to take a shot once per meter? The S100's maximum shot rate (when not in continuous mode) is about one shot every two seconds. That would mean the aircraft needs to be moving slower than 30 meters/minute (or 1.8 kph). Can a fixed wing fly that slow over the ground without a huge headwind?

This is only to test if his APM hardware outputs 5v on the relay pins, to start troubleshooting. I used 1m to take advantage that the GPS drifts when inside, so the relay fires without need to move the platform.

Cereal_Killer

Hello folks, new here (well I joined at the start of the summer flying season but dont recall posting yet)...

I'm using KAP&UAV on 3 different cameras, a pair of NDVI modded A2200's and [my main drone camera] an A2300.

I have just built myself a USB switch using an arduino nano (accepts the radios ch9 servo output and toggles the USB plug on when the servo PWM pulse is <1500uSec). This all tests fine using other devices (also using the USB plug on pin D13 so I have visual confirmation of it switching on / off). The issue is I cant figure out how to make KAP&UAV do what I'm after using the USB remote.

I have read the wiki several times, I've also done a lot of experimenting (including getting the camera stuck in "waiting for USB" mode so bad I had to format the card and do a full reinstall lol).

Let me tell you how I want it to work and you can tell me if it's even possible:
(Please see my edit below)

1.I'd like to set it up on the ground, camera on but lens retracted. I dont mind manually starting the script but I'd like the lens to stay retracted during take off till power is applied.

2. I'd like it to monitor for USB power, once power is applied I'd want it to immediately extend the lens and start snapping pictures. I have time limit and number limits both set to zero.

3. I'd like it to take pictures (at the interval defined in the setup ) untill I switch the USB power off via radio command, at this point I'd like it to retract the lens. I dont mind if the camera stays on as long as the lens is retraced for protection during landings.

*I would also like to be able to have the display off to save battery power, my 27" motor to motor tricopter is capable of staying in the air for >20 minutes and I often make 4 or 5 packs worth of flights per job. I see this setting in the script setup menu but when I tick it to turn the display off I get even more confused about what it is [or isnt] doing.

So far [when manually starting the script) I'm able to get it to wait for USB power to begin taking the pictures however it extends the lens right away. I can not get it to stop taking them when power is removed. It also doesnt retract the lens (I would assume that's obvious but just want to post as much info as I have).

I have tried all three USB trigger options, I have also tried it with the main remote box checked and unchecked. The instructions (please no one take this as offensive, they are written very well) are written for someone who already knows how to use CHDK and makes several assumptions that the user already knows how to do some stuff. I do not, I am totally new to programmable cameras and using CHDK and this kind of stuff... If someone could walk me threw what I need to setup / change / enable / disable to get it to function how I'm wanting I would be extremely greatful! Thanks in advance and thanks for everything so far!

Edit:
I have done some reading, I've now got the A2200's functioning exactly as I describe wanting them to behave above. The issue I'm having now is that the A2300 will NOT retract it's lens after I remove USB power. It stays in the script running and "waiting for USB power" phase. It doesnt power down and retract the lens. This is the most important part as I need the lens to be protected during landing.

The A2200 does this, it takes about half dozen more pictures after I cut the power but it does shut down and retract the lens. I have copied all settings from the A2200's over to the A2300 yet nothing I do get's it to shut all the way down and pull the lens in.

Cereal_Killer

Here is a video I took of it not working. Maybe I'm just making some basic mistake...

http://youtu.be/wY9VxTUdO-U

waterwingz

Cereal_Killer
The issue I'm having now is that the A2300 will NOT retract it's lens after I remove USB power. It stays in the script running and "waiting for USB power" phase. It doesnt power down and retract the lens. This is the most important part as I need the lens to be protected during landing.

Lens retraction requires that the Lens Retract time in the Canon menu be set to 0 sec. Do you have it that way on your A2300? (I'm guessing it is set that way on your other cameras).

I read the rest of your post but can't tell if you have any other issues? If so, post here and please attach a copy of the KAP.LOG file from the top level folder of your SD card.

dowallin

Naccio,
OK I've run the test you suggested. On the "Full Parameters List page, I've set all of the parameters as you instructed, EXCEPT, I can't find the "CAM_RELAY_ON:" parameter. See attachment for my options in the "CAM" and "RELAY" section of the "Full Parameters List" page. I hit the "Write Parameters" button to save these selections. I then hooked up a voltmeter directly to the Signal ("S") and ground (-) pins of A9 on the APM.

Periodically, I did get a 5 volt reading as the GPS coordinates bounced around. So, it appears that I have all the parameters set correctly (even without the "CAM_RELAY_ON" parameter).

Next step is to hook up the camera. With the KAP_UAV script set up as previously instructed, I depress the shutter release. When I do so, the lens does not open but on the LCD on the back of the camera, I get a message in red that says "Waiting on USB, Press Menu to Exit".

So, this suggests to me that I've started KAP_UAV correctly but no signal is reaching the camera right? Or is there something else that needs to be done with the settings or buttons on the camera? The only other thing I can think of is that perhaps I did not make the cable correctly. To test this I'd need to hook up the voltmeter to the pins on the mini-USB but doing this is challenging due to the tiny size of everything and, I'm not sure which pins are supposed to have this 5 volt signal. Any ideas?

KAP_distance_trouble_shooting.pdf

240.17KB

waterwingz

dowallin
With the KAP_UAV script set up as previously instructed, I depress the shutter release. When I do so, the lens does not open but on the LCD on the back of the camera, I get a message in red that says "Waiting on USB, Press Menu to Exit". So, this suggests to me that I've started KAP_UAV correctly but no signal is reaching the camera right?

Correct.

That's exactly what is supposed to happen.

You have succesfully loaded, configured, and started the script. And the script is waiting intently for something (pretty much anything) to happen at the +5V power pin on the USB port. If it sees that, it will continue and new messages will appear on the LCD.

Or is there something else that needs to be done with the settings or buttons on the camera?

Nope. Nothing at all. Assuming you have still used the settings reported earlier :

Shot Interval: Fast
USB Shot Control: One Shot

The only other thing I can think of is that perhaps I did not make the cable correctly. To test this I'd need to hook up the voltmeter to the pins on the mini-USB but doing this is challenging due to the tiny size of everything and, I'm not sure which pins are supposed to have this 5 volt signal. Any ideas?

I have a really simple script that simply reports the state of the camera USB +5V on the camera LCD. Nothing to setup, nothing to configure, nothing to go wrong. Pretty much a "poor man's" voltmeter but if it does not see anything happening, either your cable or flight controller setup is wrong. I'll try to find and post it here.

Naccio

dowallin
Naccio,
OK I've run the test you suggested. On the "Full Parameters List page, I've set all of the parameters as you instructed, EXCEPT, I can't find the "CAM_RELAY_ON:" parameter. See attachment for my options in the "CAM" and "RELAY" section of the "Full Parameters List" page. I hit the "Write Parameters" button to save these selections. I then hooked up a voltmeter directly to the Signal ("S") and ground (-) pins of A9 on the APM.

Periodically, I did get a 5 volt reading as the GPS coordinates bounced around. So, it appears that I have all the parameters set correctly (even without the "CAM_RELAY_ON" parameter).

Excellent. Your APM is configured correctly, and as it outputs 5v you only need your custom USB cable to connect your APM to your camera.

Next step is to hook up the camera. With the KAP_UAV script set up as previously instructed, I depress the shutter release. When I do so, the lens does not open but on the LCD on the back of the camera, I get a message in red that says "Waiting on USB, Press Menu to Exit".

So, this suggests to me that I've started KAP_UAV correctly but no signal is reaching the camera right? Or is there something else that needs to be done with the settings or buttons on the camera? The only other thing I can think of is that perhaps I did not make the cable correctly. To test this I'd need to hook up the voltmeter to the pins on the mini-USB but doing this is challenging due to the tiny size of everything and, I'm not sure which pins are supposed to have this 5 volt signal. Any ideas?

Your cable is probably not built correctly. If you look at the mini USB plug in such a way that you see the connectors, you must build it so that the "S" pin on relay A9 is connected to the leftmost USB connector (pin 1 on the attached image), and the "-" pin on relay A9 is connected to the rightmost connector (pin 4 on the attached image). I would suggest using a continuity tester (most digital voltmeters have them, the voltmeter buzzes when its two contacts are shorted) to check.

If you can verify that your cable is built correctly but still can't get it to work, you will have to ask WaterWingz for further assistance, as he probably knows a bit more than I do about the KAP/UAV script. :lol

PS: WW, is troubleshooting APM and Pixhawk hardware too off-topic for this thread? I don't want to break rules, just trying to help...

dowallin

Naccio,
Success! The idiot who made up the cable (me) did a lousy soldering job. The ground wire broke. I redid the cable and everything seems to be working great! I plan to fly tomorrow. I can't wait to give it a try and I'll let you know how it works.

Thanks very much for all of your help and patience in trouble shooting this issue.

Sincerely

waterwingz

I've decided that the beta phase of release 3.6 of this script is over.

As such, I've updated the file from the script download link with the official v3.6 release.

Principal changes are the addition of exposure bracketing, continuous shooting modes, and USB remote support for a direct pixhawk / flight controller sync to position over the ground.

I've updated the script's wiki page and am adding a new section to describe all the USB modes.

Next release of this script other than bug fixes will await the official release of 1.4.0 (so I can take advantage of all of the new scripting goodies).

Naccio

WW, I can't believe how advanced this script has gotten. I cannot thank you and the other CHDK developers enough.

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