ardupilot/libraries/AP_Camera/AP_Camera_Mount.cpp

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#include "AP_Camera_Mount.h"
#if AP_CAMERA_MOUNT_ENABLED
#include <AP_Mount/AP_Mount.h>
extern const AP_HAL::HAL& hal;
// entry point to actually take a picture. returns true on success
bool AP_Camera_Mount::trigger_pic()
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->take_picture(get_mount_instance());
}
return false;
}
// start/stop recording video. returns true on success
// start_recording should be true to start recording, false to stop recording
bool AP_Camera_Mount::record_video(bool start_recording)
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->record_video(get_mount_instance(), start_recording);
}
return false;
}
// set zoom specified as a rate or percentage
bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->set_zoom(get_mount_instance(), zoom_type, zoom_value);
}
return false;
}
// set focus specified as rate, percentage or auto
// focus in = -1, focus hold = 0, focus out = 1
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SetFocusResult AP_Camera_Mount::set_focus(FocusType focus_type, float focus_value)
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->set_focus(get_mount_instance(), focus_type, focus_value);
}
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return SetFocusResult::FAILED;
}
// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
bool AP_Camera_Mount::set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2)
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->set_tracking(get_mount_instance(), tracking_type, p1, p2);
}
return false;
}
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// set camera lens as a value from 0 to 5
bool AP_Camera_Mount::set_lens(uint8_t lens)
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->set_lens(get_mount_instance(), lens);
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}
return false;
}
// send camera information message to GCS
void AP_Camera_Mount::send_camera_information(mavlink_channel_t chan) const
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->send_camera_information(get_mount_instance(), chan);
}
}
// send camera settings message to GCS
void AP_Camera_Mount::send_camera_settings(mavlink_channel_t chan) const
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->send_camera_settings(get_mount_instance(), chan);
}
}
// send camera capture status message to GCS
void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
{
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
return mount->send_camera_capture_status(get_mount_instance(), chan);
}
}
#endif // AP_CAMERA_MOUNT_ENABLED