AP_Mount: Siyi implements change_setting

libraries/AP_Mount/AP_Mount.cpp

@@ -907,6 +907,17 @@ void AP_Mount::send_camera_capture_status(uint8_t instance, mavlink_channel_t ch
     backend->send_camera_capture_status(chan);
 }
 
+// change camera settings not normally used by autopilot
+// setting values from AP_Camera::Setting enum
+bool AP_Mount::change_setting(uint8_t instance, CameraSetting setting, float value)
+{
+    auto *backend = get_instance(instance);
+    if (backend == nullptr) {
+        return false;
+    }
+    return backend->change_setting(setting, value);
+}
+
 // get rangefinder distance.  Returns true on success
 bool AP_Mount::get_rangefinder_distance(uint8_t instance, float& distance_m) const
 {

libraries/AP_Mount/AP_Mount.h

@@ -271,6 +271,10 @@ public:
     // send camera capture status message to GCS
     void send_camera_capture_status(uint8_t instance, mavlink_channel_t chan) const;
 
+    // change camera settings not normally used by autopilot
+    // setting values from AP_Camera::Setting enum
+    bool change_setting(uint8_t instance, CameraSetting setting, float value);
+
     //
     // rangefinder
     //

libraries/AP_Mount/AP_Mount_Backend.h

@@ -198,6 +198,9 @@ public:
     // send camera capture status message to GCS
     virtual void send_camera_capture_status(mavlink_channel_t chan) const {}
 
+    // change camera settings not normally used by autopilot
+    virtual bool change_setting(CameraSetting setting, float value) { return false; }
+
 #if AP_MOUNT_POI_TO_LATLONALT_ENABLED
     // get poi information.  Returns true on success and fills in gimbal attitude, location and poi location
     bool get_poi(uint8_t instance, Quaternion &quat, Location &loc, Location &poi_loc);

libraries/AP_Mount/AP_Mount_Siyi.cpp

@@ -1098,6 +1098,25 @@ void AP_Mount_Siyi::send_camera_settings(mavlink_channel_t chan) const
         NaN);               // focusLevel float, percentage from 0 to 100, NaN if unknown
 }
 
+// change camera settings not normally used by autopilot
+// THERMAL_PALETTE: 0:WhiteHot, 2:Sepia, 3:IronBow, 4:Rainbow, 5:Night, 6:Aurora, 7:RedHot, 8:Jungle, 9:Medical, 10:BlackHot, 11:GloryHot
+// THERMAL_GAIN: 0:Low gain (50C ~ 550C), 1:High gain (-20C ~ 150C)
+// THERMAL_RAW_DATA: 0:Disable Raw Data (30fps), 1:Enable Raw Data (25fps)
+bool AP_Mount_Siyi::change_setting(CameraSetting setting, float value)
+{
+    switch (setting) {
+    case CameraSetting::THERMAL_PALETTE:
+        return send_1byte_packet(SiyiCommandId::SET_THERMAL_PALETTE, (uint8_t)value);
+    case CameraSetting::THERMAL_GAIN:
+        return send_1byte_packet(SiyiCommandId::SET_THERMAL_GAIN, (uint8_t)value);
+    case CameraSetting::THERMAL_RAW_DATA:
+        return send_1byte_packet(SiyiCommandId::SET_THERMAL_RAW_DATA, (uint8_t)value);
+    }
+
+    // invalid setting so return false
+    return false;
+}
+
 // get model name string. returns "Unknown" if hardware model is not yet known
 const char* AP_Mount_Siyi::get_model_name() const
 {

libraries/AP_Mount/AP_Mount_Siyi.h

@@ -82,6 +82,12 @@ public:
     // send camera settings message to GCS
     void send_camera_settings(mavlink_channel_t chan) const override;
 
+    // change camera settings not normally used by autopilot
+    // THERMAL_PALETTE: 0:WhiteHot, 2:Sepia, 3:IronBow, 4:Rainbow, 5:Night, 6:Aurora, 7:RedHot, 8:Jungle, 9:Medical, 10:BlackHot, 11:GloryHot
+    // THERMAL_GAIN: 0:Low gain (50C ~ 550C), 1:High gain (-20C ~ 150C)
+    // THERMAL_RAW_DATA: 0:Disable Raw Data (30fps), 1:Enable Raw Data (25fps)
+    bool change_setting(CameraSetting setting, float value) override;
+
     //
     // rangefinder
     //
@@ -118,8 +124,11 @@ private:
         ABSOLUTE_ZOOM = 0x0F,
         SET_CAMERA_IMAGE_TYPE = 0x11,
         READ_RANGEFINDER = 0x15,
+        SET_THERMAL_PALETTE = 0x1B,
         EXTERNAL_ATTITUDE = 0x22,
         SET_TIME = 0x30,
+        SET_THERMAL_RAW_DATA = 0x34,
+        SET_THERMAL_GAIN = 0x38,
         POSITION_DATA = 0x3e,
     };