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Rover: add support for DO_SET_ROI within mission

This commit is contained in:
Randy Mackay 2014-07-04 15:43:08 +09:00
parent 873eb68d79
commit 3790b3aa82
1 changed files with 11 additions and 6 deletions
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17
APMrover2/commands_logic.pde
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@ -96,12 +96,17 @@ start_command(const AP_Mission::Mission_Command& cmd)
// system to control the vehicle attitude and the attitude of various
// devices such as cameras.
// |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
case MAV_CMD_DO_SET_ROI:
#if 0
// not supported yet
camera_mount.set_roi_cmd(&cmd.content.location);
#endif
break;
case MAV_CMD_DO_SET_ROI:
if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
// switch off the camera tracking if enabled
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
camera_mount.set_roi_cmd(&cmd.content.location);
}
break;
case MAV_CMD_DO_MOUNT_CONFIGURE: // Mission command to configure a camera mount |Mount operation mode (see MAV_CONFIGURE_MOUNT_MODE enum)| stabilize roll? (1 = yes, 0 = no)| stabilize pitch? (1 = yes, 0 = no)| stabilize yaw? (1 = yes, 0 = no)| Empty| Empty| Empty|
camera_mount.configure_cmd();