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RC_Channel: aux function for camera image tracking

This commit is contained in:
Randy Mackay 2023-04-29 09:58:00 +09:00
parent 98636287fc
commit 24445a0c20
2 changed files with 17 additions and 0 deletions
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15
libraries/RC_Channel/RC_Channel.cpp
View File

@ -237,6 +237,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Values{Copter, Rover, Plane, Blimp}: 171:Calibrate Compasses // @Values{Copter, Rover, Plane, Blimp}: 171:Calibrate Compasses
// @Values{Copter, Rover, Plane, Blimp}: 172:Battery MPPT Enable // @Values{Copter, Rover, Plane, Blimp}: 172:Battery MPPT Enable
// @Values{Plane}: 173:Plane AUTO Mode Landing Abort // @Values{Plane}: 173:Plane AUTO Mode Landing Abort
// @Values{Copter, Rover, Plane, Blimp}: 174:Camera Image Tracking
// @Values{Rover}: 201:Roll // @Values{Rover}: 201:Roll
// @Values{Rover}: 202:Pitch // @Values{Rover}: 202:Pitch
// @Values{Rover}: 207:MainSail // @Values{Rover}: 207:MainSail
@ -765,6 +766,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::CAMERA_ZOOM, "Camera Zoom"}, { AUX_FUNC::CAMERA_ZOOM, "Camera Zoom"},
{ AUX_FUNC::CAMERA_MANUAL_FOCUS, "Camera Manual Focus"}, { AUX_FUNC::CAMERA_MANUAL_FOCUS, "Camera Manual Focus"},
{ AUX_FUNC::CAMERA_AUTO_FOCUS, "Camera Auto Focus"}, { AUX_FUNC::CAMERA_AUTO_FOCUS, "Camera Auto Focus"},
{ AUX_FUNC::CAMERA_IMAGE_TRACKING, "Camera Image Tracking"},
}; };
/* lookup the announcement for switch change */ /* lookup the announcement for switch change */
@ -982,6 +984,17 @@ bool RC_Channel::do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag)
} }
return false; return false;
} }
bool RC_Channel::do_aux_function_camera_image_tracking(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
// High position enables tracking a POINT in middle of image
// Low or Mediums disables tracking. (0.5,0.5) is still passed in but ignored
return camera->set_tracking(ch_flag == AuxSwitchPos::HIGH ? TrackingType::POINT : TrackingType::NONE, Vector2f{0.5, 0.5}, Vector2f{});
}
#endif #endif
void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag) void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
@ -1477,6 +1490,8 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::CAMERA_AUTO_FOCUS: case AUX_FUNC::CAMERA_AUTO_FOCUS:
return do_aux_function_camera_auto_focus(ch_flag); return do_aux_function_camera_auto_focus(ch_flag);
case AUX_FUNC::CAMERA_IMAGE_TRACKING:
return do_aux_function_camera_image_tracking(ch_flag);
#endif #endif
#if HAL_MOUNT_ENABLED #if HAL_MOUNT_ENABLED

2
libraries/RC_Channel/RC_Channel.h
View File

@ -246,6 +246,7 @@ public:
MAG_CAL = 171, // Calibrate compasses (disarmed only) MAG_CAL = 171, // Calibrate compasses (disarmed only)
BATTERY_MPPT_ENABLE = 172,// Battery MPPT Power enable. high = ON, mid = auto (controlled by mppt/batt driver), low = OFF. This effects all MPPTs. BATTERY_MPPT_ENABLE = 172,// Battery MPPT Power enable. high = ON, mid = auto (controlled by mppt/batt driver), low = OFF. This effects all MPPTs.
PLANE_AUTO_LANDING_ABORT = 173, // Abort Glide-slope or VTOL landing during payload place or do_land type mission items PLANE_AUTO_LANDING_ABORT = 173, // Abort Glide-slope or VTOL landing during payload place or do_land type mission items
CAMERA_IMAGE_TRACKING = 174, // camera image tracking
// inputs from 200 will eventually used to replace RCMAP // inputs from 200 will eventually used to replace RCMAP
@ -344,6 +345,7 @@ protected:
bool do_aux_function_camera_zoom(const AuxSwitchPos ch_flag); bool do_aux_function_camera_zoom(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_manual_focus(const AuxSwitchPos ch_flag); bool do_aux_function_camera_manual_focus(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag); bool do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_image_tracking(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_control(const AuxSwitchPos ch_flag); void do_aux_function_runcam_control(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag); void do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag);
void do_aux_function_fence(const AuxSwitchPos ch_flag); void do_aux_function_fence(const AuxSwitchPos ch_flag);