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RC_Channel: add camera aux functions

This commit is contained in:
Randy Mackay 2022-09-27 13:53:48 +09:00
parent 2ffe692706
commit 47e2be6e60
2 changed files with 97 additions and 5 deletions
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94
libraries/RC_Channel/RC_Channel.cpp
View File

@ -98,10 +98,10 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: OPTION
// @DisplayName: RC input option
// @Description: Function assigned to this RC channel
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with AirMode (4.2 and higher), 158:Optflow Calibration, 159:Force Flying, 161:Turbine Start(heli), 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim (4.1 and lower), 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm (4.2 and higher), 155: set steering trim to current servo and RC, 156:Torqeedo Clear Err, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 201:Roll, 202:Pitch, 207:MainSail, 208:Flap, 211:Walking Height, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 22:Parachute Release, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm (4.1 and lower), 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 107: EnableFixedWingAutotune, 108: ModeQRTL, 150: CRUISE, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with Quadplane AirMode (4.2 and higher), 155: set roll pitch and yaw trim to current servo and RC, 157: Force FS Action to FBWA, 158:Optflow Calibration, 160:Weathervane Enable, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 208:Flap, 209: Forward Throttle, 210: Airbrakes, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Blimp}: 0:Do Nothing, 18:Land, 46:RC Override Enable, 65:GPS Disable, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 153:ArmDisarm, 164:Pause Stream Logging
// @Values{Copter}: 0:Do Nothing, 2:Flip, 3:Simple Mode, 4:RTL, 5:Save Trim, 7:Save WP, 9:Camera Trigger, 10:RangeFinder, 11:Fence, 13:Super Simple Mode, 14:Acro Trainer, 15:Sprayer, 16:Auto, 17:AutoTune, 18:Land, 19:Gripper, 21:Parachute Enable, 22:Parachute Release, 23:Parachute 3pos, 24:Auto Mission Reset, 25:AttCon Feed Forward, 26:AttCon Accel Limits, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Copter Sound, 31:Motor Emergency Stop, 32:Motor Interlock, 33:Brake, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 37:Throw, 38:ADSB Avoidance En, 39:PrecLoiter, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 43:InvertedFlight, 46:RC Override Enable, 47:User Function 1, 48:User Function 2, 49:User Function 3, 52:Acro, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 60:ZigZag, 61:ZigZag SaveWP, 62:Compass Learn, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 68:Stabilize, 69:PosHold, 70:AltHold, 71:FlowHold, 72:Circle, 73:Drift, 75:SurfaceTrackingUpDown, 76:Standby Mode, 78:RunCam Control, 79:RunCam OSD Control, 80:VisOdom Align, 81:Disarm, 83:ZigZag Auto, 84:Air Mode, 85:Generator, 90:EKF Pos Source, 94:VTX Power, 99:AUTO RTL, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 151:Turtle, 152:simple heading reset, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with AirMode (4.2 and higher), 158:Optflow Calibration, 159:Force Flying, 161:Turbine Start(heli), 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Rover}: 0:Do Nothing, 4:RTL, 5:Save Trim (4.1 and lower), 7:Save WP, 9:Camera Trigger, 11:Fence, 16:Auto, 19:Gripper, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 30:Lost Rover Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 40:Proximity Avoidance, 41:ArmDisarm (4.1 and lower), 42:SmartRTL, 46:RC Override Enable, 50:LearnCruise, 51:Manual, 52:Acro, 53:Steering, 54:Hold, 55:Guided, 56:Loiter, 57:Follow, 58:Clear Waypoints, 59:Simple Mode, 62:Compass Learn, 63:Sailboat Tack, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 74:Sailboat motoring 3pos, 78:RunCam Control, 79:RunCam OSD Control, 80:Viso Align, 81:Disarm, 90:EKF Pos Source, 94:VTX Power, 97:Windvane home heading direction offset, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 153:ArmDisarm (4.2 and higher), 155: set steering trim to current servo and RC, 156:Torqeedo Clear Err, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 201:Roll, 202:Pitch, 207:MainSail, 208:Flap, 211:Walking Height, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Plane}: 0:Do Nothing, 4:ModeRTL, 9:Camera Trigger, 11:Fence, 16:ModeAuto, 22:Parachute Release, 24:Auto Mission Reset, 27:Retract Mount1, 28:Relay On/Off, 29:Landing Gear, 30:Lost Plane Sound, 31:Motor Emergency Stop, 34:Relay2 On/Off, 35:Relay3 On/Off, 36:Relay4 On/Off, 38:ADSB Avoidance En, 41:ArmDisarm (4.1 and lower), 43:InvertedFlight, 46:RC Override Enable, 51:ModeManual, 52: ModeACRO, 55:ModeGuided, 56:ModeLoiter, 58:Clear Waypoints, 62:Compass Learn, 64:Reverse Throttle, 65:GPS Disable, 66:Relay5 On/Off, 67:Relay6 On/Off, 72:ModeCircle, 77:ModeTakeoff, 78:RunCam Control, 79:RunCam OSD Control, 81:Disarm, 82:QAssist 3pos, 84:Air Mode, 85:Generator, 86: Non Auto Terrain Follow Disable, 87:Crow Select, 88:Soaring Enable, 89:Landing Flare, 90:EKF Pos Source, 91:Airspeed Ratio Calibration, 92:FBWA, 94:VTX Power, 95:FBWA taildragger takeoff mode, 96:trigger re-reading of mode switch, 98: ModeTraining, 100:KillIMU1, 101:KillIMU2, 102:Camera Mode Toggle, 105:GPS Disable Yaw, 106:Disable Airspeed Use, 107: EnableFixedWingAutotune, 108: ModeQRTL, 150: CRUISE, 153:ArmDisarm (4.2 and higher), 154:ArmDisarm with Quadplane AirMode (4.2 and higher), 155: set roll pitch and yaw trim to current servo and RC, 157: Force FS Action to FBWA, 158:Optflow Calibration, 160:Weathervane Enable, 162:FFT Tune, 163:Mount Lock, 164:Pause Stream Logging, 165:Arm/Emergency Motor Stop, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus, 208:Flap, 209: Forward Throttle, 210: Airbrakes, 212:Mount1 Roll, 213:Mount1 Pitch, 214:Mount1 Yaw, 215:Mount2 Roll, 216:Mount2 Pitch, 217:Mount2 Yaw, 300:Scripting1, 301:Scripting2, 302:Scripting3, 303:Scripting4, 304:Scripting5, 305:Scripting6, 306:Scripting7, 307:Scripting8
// @Values{Blimp}: 0:Do Nothing, 18:Land, 46:RC Override Enable, 65:GPS Disable, 81:Disarm, 90:EKF Pos Source, 100:KillIMU1, 101:KillIMU2, 153:ArmDisarm, 164:Pause Stream Logging, 166:Camera Record Video, 167:Camera Zoom, 168:Camera Manual Focus, 169:Camera Auto Focus
// @User: Standard
AP_GROUPINFO_FRAME("OPTION", 6, RC_Channel, option, 0, AP_PARAM_FRAME_COPTER|AP_PARAM_FRAME_ROVER|AP_PARAM_FRAME_PLANE|AP_PARAM_FRAME_BLIMP),
@ -532,7 +532,10 @@ void RC_Channel::init_aux_function(const aux_func_t ch_option, const AuxSwitchPo
#endif
case AUX_FUNC::LOG_PAUSE:
case AUX_FUNC::ARM_EMERGENCY_STOP:
case AUX_FUNC::CAMERA_REC_VIDEO:
case AUX_FUNC::CAMERA_ZOOM:
case AUX_FUNC::CAMERA_MANUAL_FOCUS:
case AUX_FUNC::CAMERA_AUTO_FOCUS:
run_aux_function(ch_option, ch_flag, AuxFuncTriggerSource::INIT);
break;
default:
@ -594,6 +597,10 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::FFT_NOTCH_TUNE, "FFT Notch Tuning"},
{ AUX_FUNC::MOUNT_LOCK, "MountLock"},
{ AUX_FUNC::LOG_PAUSE, "Pause Stream Logging"},
{ AUX_FUNC::CAMERA_REC_VIDEO, "Camera Record Video"},
{ AUX_FUNC::CAMERA_ZOOM, "Camera Zoom"},
{ AUX_FUNC::CAMERA_MANUAL_FOCUS, "Camera Manual Focus"},
{ AUX_FUNC::CAMERA_AUTO_FOCUS, "Camera Auto Focus"},
};
/* lookup the announcement for switch change */
@ -742,6 +749,71 @@ void RC_Channel::do_aux_function_camera_trigger(const AuxSwitchPos ch_flag)
camera->take_picture();
}
}
bool RC_Channel::do_aux_function_record_video(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
return camera->record_video(ch_flag == AuxSwitchPos::HIGH);
}
bool RC_Channel::do_aux_function_camera_zoom(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
int8_t zoom_step = 0; // zoom out = -1, hold = 0, zoom in = 1
switch (ch_flag) {
case AuxSwitchPos::HIGH:
zoom_step = 1; // zoom in
break;
case AuxSwitchPos::MIDDLE:
zoom_step = 0; // zoom hold
break;
case AuxSwitchPos::LOW:
zoom_step = -1; // zoom out
break;
}
return camera->set_zoom_step(zoom_step);
}
bool RC_Channel::do_aux_function_camera_manual_focus(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
int8_t focus_step = 0; // focus in = -1, focus hold = 0, focus out = 1
switch (ch_flag) {
case AuxSwitchPos::HIGH:
// wide shot, focus out
focus_step = 1;
break;
case AuxSwitchPos::MIDDLE:
focus_step = 0;
break;
case AuxSwitchPos::LOW:
// close shot, focus in
focus_step = -1;
break;
}
return camera->set_manual_focus_step(focus_step);
}
bool RC_Channel::do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
if (ch_flag == AuxSwitchPos::HIGH) {
return camera->set_auto_focus();
}
return false;
}
#endif
void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
@ -1203,6 +1275,18 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
}
break;
}
case AUX_FUNC::CAMERA_REC_VIDEO:
return do_aux_function_record_video(ch_flag);
case AUX_FUNC::CAMERA_ZOOM:
return do_aux_function_camera_zoom(ch_flag);
case AUX_FUNC::CAMERA_MANUAL_FOCUS:
return do_aux_function_camera_manual_focus(ch_flag);
case AUX_FUNC::CAMERA_AUTO_FOCUS:
return do_aux_function_camera_auto_focus(ch_flag);
#endif
#if HAL_MOUNT_ENABLED

8
libraries/RC_Channel/RC_Channel.h
View File

@ -230,6 +230,10 @@ public:
MOUNT_LOCK = 163, // Mount yaw lock vs follow
LOG_PAUSE = 164, // Pauses logging if under logging rate control
ARM_EMERGENCY_STOP = 165, // ARM on high, MOTOR_ESTOP on low
CAMERA_REC_VIDEO = 166, // start recording on high, stop recording on low
CAMERA_ZOOM = 167, // camera zoom high = zoom in, middle = hold, low = zoom out
CAMERA_MANUAL_FOCUS = 168,// camera manual focus. high = long shot, middle = stop focus, low = close shot
CAMERA_AUTO_FOCUS = 169, // camera auto focus
// inputs from 200 will eventually used to replace RCMAP
ROLL = 201, // roll input
@ -318,6 +322,10 @@ protected:
void do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag);
void do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag);
void do_aux_function_camera_trigger(const AuxSwitchPos ch_flag);
bool do_aux_function_record_video(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_zoom(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_manual_focus(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_control(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag);
void do_aux_function_fence(const AuxSwitchPos ch_flag);