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AP_Mount: add get_camera_state method

This commit is contained in:
Randy Mackay 2023-02-07 19:45:18 +09:00
parent 6678689312
commit 04e8fffc53
5 changed files with 21 additions and 0 deletions
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8
libraries/AP_Mount/AP_Mount.cpp
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@ -469,6 +469,14 @@ void AP_Mount::set_attitude_euler(uint8_t instance, float roll_deg, float pitch_
_backends[instance]->set_attitude_euler(roll_deg, pitch_deg, yaw_bf_deg);
}
bool AP_Mount::get_camera_state(uint8_t instance, uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus)
{
if (!check_instance(instance)) {
return false;
}
return _backends[instance]->get_camera_state(pic_count, record_video, zoom_step, focus_step, auto_focus);
}
// point at system ID sysid
void AP_Mount::set_target_sysid(uint8_t instance, uint8_t sysid)
{

1
libraries/AP_Mount/AP_Mount.h
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@ -172,6 +172,7 @@ public:
bool get_angle_target(uint8_t instance, float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame);
bool get_location_target(uint8_t instance, Location& target_loc);
void set_attitude_euler(uint8_t instance, float roll_deg, float pitch_deg, float yaw_bf_deg);
bool get_camera_state(uint8_t instance, uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus);
//
// camera controls for gimbals that include a camera

1
libraries/AP_Mount/AP_Mount_Backend.h
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@ -109,6 +109,7 @@ public:
virtual bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame) { return false; }
virtual bool get_location_target(Location &target_loc) { return false; }
virtual void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) {};
virtual bool get_camera_state(uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus) { return false; }
//
// camera controls for gimbals that include a camera

10
libraries/AP_Mount/AP_Mount_Scripting.cpp
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@ -222,6 +222,16 @@ void AP_Mount_Scripting::set_attitude_euler(float roll_deg, float pitch_deg, flo
current_angle_deg.z = yaw_bf_deg;
}
bool AP_Mount_Scripting::get_camera_state(uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus)
{
pic_count = picture_count;
record_video = recording_video;
zoom_step = manual_zoom_step;
focus_step = manual_focus_step;
auto_focus = auto_focus_active;
return true;
}
// get attitude as a quaternion. returns true on success
bool AP_Mount_Scripting::get_attitude_quaternion(Quaternion& att_quat)
{

1
libraries/AP_Mount/AP_Mount_Scripting.h
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@ -61,6 +61,7 @@ public:
bool get_angle_target(float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame) override;
bool get_location_target(Location& _target_loc) override;
void set_attitude_euler(float roll_deg, float pitch_deg, float yaw_bf_deg) override;
bool get_camera_state(uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus) override;
protected: