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Rover: let AP_Mission handle common camera commands

This commit is contained in:
Peter Barker 2018-10-23 19:02:00 +11:00 committed by Peter Barker
parent 7890fbeaa1
commit 42b196a9a6
2 changed files with 0 additions and 50 deletions
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4
APMrover2/Rover.h
View File

@ -428,10 +428,6 @@ private:
bool verify_within_distance();
void do_change_speed(const AP_Mission::Mission_Command& cmd);
void do_set_home(const AP_Mission::Mission_Command& cmd);
#if CAMERA == ENABLED
void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
void do_digicam_control(const AP_Mission::Mission_Command& cmd);
#endif
void do_set_reverse(const AP_Mission::Mission_Command& cmd);
// commands.cpp

46
APMrover2/commands_logic.cpp
View File

@ -59,23 +59,6 @@ bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
do_set_home(cmd);
break;
#if CAMERA == ENABLED
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
do_digicam_configure(cmd);
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
do_digicam_control(cmd);
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
#endif
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for a sensor set or the
// vehicle itself. This can then be used by the vehicles control
@ -176,8 +159,6 @@ bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_HOME:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_ROI:
case MAV_CMD_DO_SET_REVERSE:
@ -367,33 +348,6 @@ void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
}
}
#if CAMERA == ENABLED
// do_digicam_configure Send Digicam Configure message with the camera library
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
camera.configure(cmd.content.digicam_configure.shooting_mode,
cmd.content.digicam_configure.shutter_speed,
cmd.content.digicam_configure.aperture,
cmd.content.digicam_configure.ISO,
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
}
// do_digicam_control Send Digicam Control message with the camera library
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
camera.control(cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step,
cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id);
}
#endif
void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
{
control_mode->set_reversed(cmd.p1 == 1);