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AP_Mount: zoom for Viewpro IR sensor

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Ep Pravitra 2025-01-28 23:31:20 +07:00 committed by Randy Mackay
parent 8c7afb3741
commit 0b659ac8a1
2 changed files with 42 additions and 10 deletions
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48
libraries/AP_Mount/AP_Mount_Viewpro.cpp
View File

@ -20,7 +20,8 @@ extern const AP_HAL::HAL& hal;
#define AP_MOUNT_VIEWPRO_DATALEN_MAX (AP_MOUNT_VIEWPRO_PACKETLEN_MAX-AP_MOUNT_VIEWPRO_PACKETLEN_MIN) // max bytes for data portion of packet
#define AP_MOUNT_VIEWPRO_HEALTH_TIMEOUT_MS 1000 // state will become unhealthy if no attitude is received within this timeout
#define AP_MOUNT_VIEWPRO_UPDATE_INTERVAL_MS 100 // resend angle or rate targets to gimbal at this interval
#define AP_MOUNT_VIEWPRO_ZOOM_SPEED 0x07 // hard-coded zoom speed (fast)
#define AP_MOUNT_VIEWPRO_EO_ZOOM_SPEED 0x07 // hard-coded zoom speed (fast)
#define AP_MOUNT_VIEWPRO_IR_ZOOM_SPEED 1
#define AP_MOUNT_VIEWPRO_ZOOM_MAX 10 // hard-coded absolute zoom times max
#define AP_MOUNT_VIEWPRO_DEG_TO_OUTPUT (65536.0 / 360.0) // scalar to convert degrees to the viewpro angle scaling
#define AP_MOUNT_VIEWPRO_OUTPUT_TO_DEG (360.0 / 65536.0) // scalar to convert viewpro angle scaling to degrees
@ -349,9 +350,19 @@ void AP_Mount_Viewpro::process_packet()
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s recording %s", send_text_prefix, _recording ? "ON" : "OFF");
}
// get optical zoom times
_zoom_times = UINT16_VALUE(_msg_buff[_msg_buff_data_start+39], _msg_buff[_msg_buff_data_start+40]) * 0.1;
switch (_image_sensor) {
default:
case ImageSensor::EO1:
case ImageSensor::EO1_IR_PIP:
//optical zoom times
_zoom_times = UINT16_VALUE(_msg_buff[_msg_buff_data_start+39], _msg_buff[_msg_buff_data_start+40]) * 0.1;
break;
case ImageSensor::IR:
case ImageSensor::IR_EO1_PIP:
//ir zoom times
_zoom_times = ((_msg_buff[_msg_buff_data_start+29] >> 3) & 0x0F) + 1;
break;
}
// get laser rangefinder distance
_rangefinder_dist_m = UINT16_VALUE(_msg_buff[_msg_buff_data_start+33], _msg_buff[_msg_buff_data_start+34]) * 0.1;
break;
@ -737,13 +748,32 @@ bool AP_Mount_Viewpro::set_zoom(ZoomType zoom_type, float zoom_value)
// zoom rate
if (zoom_type == ZoomType::RATE) {
uint8_t zoom_speed = 1;
CameraCommand zoom_cmd = CameraCommand::STOP_FOCUS_AND_ZOOM;
if (zoom_value < 0) {
zoom_cmd = CameraCommand::ZOOM_OUT;
} else if (zoom_value > 0) {
zoom_cmd = CameraCommand::ZOOM_IN;
switch (_image_sensor) {
default:
case ImageSensor::EO1:
case ImageSensor::EO1_IR_PIP:
if (zoom_value < 0) {
zoom_cmd = CameraCommand::ZOOM_OUT;
} else if (zoom_value > 0) {
zoom_cmd = CameraCommand::ZOOM_IN;
}
zoom_speed = AP_MOUNT_VIEWPRO_EO_ZOOM_SPEED;
break;
case ImageSensor::IR:
case ImageSensor::IR_EO1_PIP:
if (zoom_value < 0) {
zoom_cmd = CameraCommand::IR_ZOOM_IN;
} else if (zoom_value > 0) {
zoom_cmd = CameraCommand::IR_ZOOM_OUT;
}
zoom_speed = AP_MOUNT_VIEWPRO_IR_ZOOM_SPEED;
break;
}
return send_camera_command(_image_sensor, zoom_cmd, AP_MOUNT_VIEWPRO_ZOOM_SPEED);
return send_camera_command(_image_sensor, zoom_cmd, zoom_speed);
}
// zoom percentage

4
libraries/AP_Mount/AP_Mount_Viewpro.h
View File

@ -160,7 +160,9 @@ private:
START_RECORD = 0x14,
STOP_RECORD = 0x15,
AUTO_FOCUS = 0x19,
MANUAL_FOCUS = 0x1A
MANUAL_FOCUS = 0x1A,
IR_ZOOM_OUT = 0x1B,
IR_ZOOM_IN = 0x1C
};
// C1 rangefinder commands