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AP_Mount: add set lens support

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This commit is contained in:
Randy Mackay 2023-07-14 20:21:22 +09:00
parent 1dc1d24f1e
commit 315d972c5d
3 changed files with 16 additions and 0 deletions
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10
libraries/AP_Mount/AP_Mount.cpp
View File

@ -794,6 +794,16 @@ bool AP_Mount::set_tracking(uint8_t instance, TrackingType tracking_type, const
return backend->set_tracking(tracking_type, p1, p2);
}
// set camera lens as a value from 0 to 5
bool AP_Mount::set_lens(uint8_t instance, uint8_t lens)
{
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return backend->set_lens(lens);
}
// send camera information message to GCS
void AP_Mount::send_camera_information(mavlink_channel_t chan) const
{

3
libraries/AP_Mount/AP_Mount.h
View File

@ -238,6 +238,9 @@ public:
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
bool set_tracking(uint8_t instance, TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2);
// set camera lens as a value from 0 to 5
bool set_lens(uint8_t instance, uint8_t lens);
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan) const;

3
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -169,6 +169,9 @@ public:
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
virtual bool set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2) { return false; }
// set camera lens as a value from 0 to 5
virtual bool set_lens(uint8_t lens) { return false; }
// send camera information message to GCS
virtual void send_camera_information(mavlink_channel_t chan) const {}