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AP_Mount: Siyi absolute zoom simplification

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This commit is contained in:
Randy Mackay 2023-08-28 20:21:18 +09:00
parent b06921fbac
commit 33542c0c1d
2 changed files with 7 additions and 41 deletions
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46
libraries/AP_Mount/AP_Mount_Siyi.cpp
View File

@ -713,23 +713,11 @@ bool AP_Mount_Siyi::set_zoom(ZoomType zoom_type, float zoom_value)
if (is_positive(zoom_mult_max)) {
// convert zoom percentage (0~100) to target zoom multiple (e.g. 0~6x or 0~30x)
const float zoom_mult = linear_interpolate(1, zoom_mult_max, zoom_value, 0, 100);
switch (_hardware_model) {
case HardwareModel::UNKNOWN:
// unknown model
return false;
case HardwareModel::A8:
// set internal zoom control target
if (send_zoom_mult(zoom_mult)) {
_zoom_type = zoom_type;
_zoom_mult_target = zoom_mult;
return true;
case HardwareModel::ZR10:
if (send_zoom_mult(zoom_mult)) {
_zoom_type = zoom_type;
_zoom_mult_target = 0;
return true;
}
return false;
}
return false;
}
return false;
}
@ -742,39 +730,19 @@ bool AP_Mount_Siyi::set_zoom(ZoomType zoom_type, float zoom_value)
// update zoom controller
void AP_Mount_Siyi::update_zoom_control()
{
const uint32_t now_ms = AP_HAL::millis();
const uint32_t update_diff_ms = now_ms - _last_zoom_control_ms;
switch (_zoom_type) {
case ZoomType::RATE:
if (_zoom_type == ZoomType::RATE) {
// limit updates to 1hz
if (update_diff_ms < 1000) {
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _last_zoom_control_ms < 1000) {
return;
}
_last_zoom_control_ms = now_ms;
// only send zoom rate target if it's non-zero because if zero it has already been sent
// and sending zero rate also triggers autofocus
if (!is_zero(_zoom_rate_target)) {
send_zoom_rate(_zoom_rate_target);
}
_last_zoom_control_ms = now_ms;
return;
case ZoomType::PCT:
// limit updates to 20hz and only when we have a zoom target
if (!is_positive(_zoom_mult_target) || (update_diff_ms < 50)) {
return;
}
// zoom towards target zoom multiple
if (_zoom_mult_target > _zoom_mult + 0.1f) {
send_zoom_rate(1);
} else if (_zoom_mult_target < _zoom_mult - 0.1f) {
send_zoom_rate(-1);
} else {
send_zoom_rate(0);
_zoom_mult_target = 0;
}
_last_zoom_control_ms = now_ms;
debug("Siyi zoom targ:%f act:%f", (double)_zoom_mult_target, (double)_zoom_mult);
break;
}
}

2
libraries/AP_Mount/AP_Mount_Siyi.h
View File

@ -189,7 +189,6 @@ private:
bool send_zoom_rate(float zoom_value);
// send zoom multiple command to camera. e.g. 1x, 10x, 30x
// only supported by ZR10 and ZR30
bool send_zoom_mult(float zoom_mult);
// get zoom multiple max
@ -239,7 +238,6 @@ private:
// absolute zoom control. only used for A8 that does not support abs zoom control
ZoomType _zoom_type; // current zoom type
float _zoom_rate_target; // current zoom rate target
float _zoom_mult_target; // current zoom multiple target. 0 if no target
float _zoom_mult; // most recent actual zoom multiple received from camera
uint32_t _last_zoom_control_ms; // system time that zoom control was last run
};