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AP_Scripting: viewpro driver uses focus type and value

This commit is contained in:
Randy Mackay 2023-04-25 13:30:02 +09:00 committed by Peter Barker
parent edc2ea7bf6
commit 294eb1db5b
1 changed files with 28 additions and 24 deletions
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26
libraries/AP_Scripting/drivers/mount-viewpro-driver.lua
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@ -159,8 +159,8 @@ local cam_pic_count = 0 -- last picture count. used to detect t
local cam_rec_video = false -- last record video state. used to detect record video local cam_rec_video = false -- last record video state. used to detect record video
local cam_zoom_type = 0 -- last zoom type 1:Rate 2:Pct local cam_zoom_type = 0 -- last zoom type 1:Rate 2:Pct
local cam_zoom_value = 0 -- last zoom value. If rate, zoom out = -1, hold = 0, zoom in = 1. If Pct then value from 0 to 100 local cam_zoom_value = 0 -- last zoom value. If rate, zoom out = -1, hold = 0, zoom in = 1. If Pct then value from 0 to 100
local cam_focus_step = 0 -- last focus step state. focus in = -1, focus hold = 0, focus out = 1 local cam_focus_type = 0 -- last focus type 1:Rate, 2:Pct, 4:Auto
local cam_autofocus = false -- last auto focus state local cam_focus_value = 0 -- last focus value. If Rate then focus in = -1, focus hold = 0, focus out = 1
-- parsing status reporting variables -- parsing status reporting variables
local last_print_ms = 0 -- system time that debug output was last printed local last_print_ms = 0 -- system time that debug output was last printed
@ -613,14 +613,20 @@ function check_camera_state()
-- check manual focus -- check manual focus
-- focus in = -1, focus hold = 0, focus out = 1 -- focus in = -1, focus hold = 0, focus out = 1
if cam_state:focus_step() and cam_state:focus_step() ~= cam_focus_step then local focus_type_changed = cam_state:focus_type() and (cam_state:focus_type() ~= cam_focus_type)
cam_focus_step = cam_state:focus_step() local focus_value_changed = cam_state:focus_value() and (cam_state:focus_value() ~= cam_focus_value)
if cam_focus_step < 0 then if (focus_type_changed or focus_value_changed) then
cam_focus_type = cam_state:focus_type()
cam_focus_value = cam_state:focus_value()
-- focus rate
if cam_focus_type == 1 then
if cam_focus_value < 0 then
send_camera_control(cam_choice, CAM_COMMAND_MANUAL_FOCUS) send_camera_control(cam_choice, CAM_COMMAND_MANUAL_FOCUS)
send_camera_control(cam_choice, CAM_COMMAND_FOCUS_MINUS) send_camera_control(cam_choice, CAM_COMMAND_FOCUS_MINUS)
elseif cam_focus_step == 0 then elseif cam_focus_value == 0 then
send_camera_control(cam_choice, CAM_COMMAND_STOP_FOCUS_AND_ZOOM) send_camera_control(cam_choice, CAM_COMMAND_STOP_FOCUS_AND_ZOOM)
elseif cam_focus_step > 0 then elseif cam_focus_value > 0 then
send_camera_control(cam_choice, CAM_COMMAND_MANUAL_FOCUS) send_camera_control(cam_choice, CAM_COMMAND_MANUAL_FOCUS)
send_camera_control(cam_choice, CAM_COMMAND_FOCUS_PLUS) send_camera_control(cam_choice, CAM_COMMAND_FOCUS_PLUS)
end end
@ -630,15 +636,13 @@ function check_camera_state()
end end
-- check auto focus -- check auto focus
if cam_state:auto_focus() and cam_state:auto_focus() ~= cam_autofocus then if cam_focus_type == 4 then
cam_autofocus = cam_state:auto_focus()
if cam_autofocus then
send_camera_control(cam_choice, CAM_COMMAND_AUTO_FOCUS) send_camera_control(cam_choice, CAM_COMMAND_AUTO_FOCUS)
end
if VIEP_DEBUG:get() > 0 then if VIEP_DEBUG:get() > 0 then
gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: auto focus:" .. tostring(cam_autofocus)) gcs:send_text(MAV_SEVERITY.INFO, "ViewPro: auto focus:" .. tostring(cam_autofocus))
end end
end end
end
end end
-- the main update function that performs a simplified version of RTL -- the main update function that performs a simplified version of RTL