ardupilot/libraries/AP_Camera/AP_Camera_SoloGimbal.cpp

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#include "AP_Camera_SoloGimbal.h"
#if AP_CAMERA_SOLOGIMBAL_ENABLED
#include <GCS_MAVLink/GCS.h>
// Toggle the shutter on the GoPro
// This is so ArduPilot can toggle the shutter directly, either for mission/GCS commands, or when the
// Solo's gimbal is installed on a vehicle other than a Solo. The usual GoPro controls thorugh the
// Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
// entry point to actually take a picture. returns true on success
bool AP_Camera_SoloGimbal::trigger_pic()
{
if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available");
return false;
}
const uint8_t gopro_shutter_start[4] = { 1, 0, 0, 0};
const uint8_t gopro_shutter_stop[4] = { 0, 0, 0, 0};
if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) {
// Trigger shutter start to take a photo
gcs().send_text(MAV_SEVERITY_INFO, "GoPro Photo Trigger");
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
} else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) {
if (gopro_is_recording) {
// GoPro is recording, so stop recording
gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Stop");
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop);
} else {
// GoPro is not recording, so start recording
gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Start");
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
}
} else {
gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode");
return false;
}
return true;
}
// Cycle the GoPro capture mode
// This is so ArduPilot can cycle through the capture modes of the GoPro directly, probably with an RC Aux function.
// This is primarily for Solo's gimbal being installed on a vehicle other than a Solo. The usual GoPro controls
// through the Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
// momentary switch to change camera between picture and video modes
void AP_Camera_SoloGimbal::cam_mode_toggle()
{
uint8_t gopro_capture_mode_values[4] = { };
if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available");
return;
}
switch(gopro_capture_mode) {
case GOPRO_CAPTURE_MODE_VIDEO:
if (gopro_is_recording) {
// GoPro is recording, cannot change modes
gcs().send_text(MAV_SEVERITY_INFO, "GoPro recording, can't change modes");
} else {
// Change to camera mode
gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO;
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode photo");
}
break;
case GOPRO_CAPTURE_MODE_PHOTO:
default:
// Change to video mode
gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_VIDEO;
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode video");
break;
}
}
// handle incoming heartbeat from the Solo gimbal GoPro
void AP_Camera_SoloGimbal::handle_message(mavlink_channel_t chan, const mavlink_message_t &msg)
{
mavlink_gopro_heartbeat_t report_msg;
mavlink_msg_gopro_heartbeat_decode(&msg, &report_msg);
gopro_is_recording = report_msg.flags & GOPRO_FLAG_RECORDING;
heartbeat_channel = chan;
switch((GOPRO_HEARTBEAT_STATUS)report_msg.status) {
case GOPRO_HEARTBEAT_STATUS_DISCONNECTED:
case GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE:
case GOPRO_HEARTBEAT_STATUS_ERROR:
case GOPRO_HEARTBEAT_STATUS_CONNECTED:
gopro_status = (GOPRO_HEARTBEAT_STATUS)report_msg.status;
break;
case GOPRO_HEARTBEAT_STATUS_ENUM_END:
break;
}
switch((GOPRO_CAPTURE_MODE)report_msg.capture_mode){
case GOPRO_CAPTURE_MODE_VIDEO:
case GOPRO_CAPTURE_MODE_PHOTO:
case GOPRO_CAPTURE_MODE_BURST:
case GOPRO_CAPTURE_MODE_TIME_LAPSE:
case GOPRO_CAPTURE_MODE_MULTI_SHOT:
case GOPRO_CAPTURE_MODE_PLAYBACK:
case GOPRO_CAPTURE_MODE_SETUP:
case GOPRO_CAPTURE_MODE_UNKNOWN:
gopro_capture_mode = (GOPRO_CAPTURE_MODE)report_msg.capture_mode;
break;
case GOPRO_CAPTURE_MODE_ENUM_END:
break;
}
}
#endif // AP_CAMERA_SOLOGIMBAL_ENABLED