Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: set_zoom replaces set_zoom_step

Browse Source
This commit is contained in:
Randy Mackay 2023-04-12 21:35:43 +09:00 committed by Andrew Tridgell
parent 6603a6c8c5
commit 5b7f9c874d
5 changed files with 25 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Mount/AP_Mount.cpp
View File

@ -618,15 +618,14 @@ bool AP_Mount::record_video(uint8_t instance, bool start_recording)
return backend->record_video(start_recording);
}
// set camera zoom step. returns true on success
// zoom out = -1, hold = 0, zoom in = 1
bool AP_Mount::set_zoom_step(uint8_t instance, int8_t zoom_step)
// set zoom specified as a rate or percentage
bool AP_Mount::set_zoom(uint8_t instance, AP_Camera::ZoomType zoom_type, float zoom_value)
{
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return backend->set_zoom_step(zoom_step);
return backend->set_zoom(zoom_type, zoom_value);
}
// set focus in, out or hold. returns true on success

6
libraries/AP_Mount/AP_Mount.h
View File

@ -27,6 +27,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_Common/Location.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Camera/AP_Camera.h>
#include "AP_Mount_Params.h"
// maximum number of mounts
@ -180,9 +181,8 @@ public:
// set start_recording = true to start record, false to stop recording
bool record_video(uint8_t instance, bool start_recording);
// set camera zoom step
// zoom out = -1, hold = 0, zoom in = 1
bool set_zoom_step(uint8_t instance, int8_t zoom_step);
// set zoom specified as a rate or percentage
bool set_zoom(uint8_t instance, AP_Camera::ZoomType zoom_type, float zoom_value);
// set focus in, out or hold
// focus in = -1, focus hold = 0, focus out = 1

5
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -124,9 +124,8 @@ public:
// set start_recording = true to start record, false to stop recording
virtual bool record_video(bool start_recording) { return false; }
// set camera zoom step. returns true on success
// zoom out = -1, hold = 0, zoom in = 1
virtual bool set_zoom_step(int8_t zoom_step) { return false; }
// set zoom specified as a rate or percentage
virtual bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) { return false; }
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1

19
libraries/AP_Mount/AP_Mount_Siyi.cpp
View File

@ -625,11 +625,22 @@ bool AP_Mount_Siyi::record_video(bool start_recording)
return ret;
}
// set camera zoom step. returns true on success
// zoom out = -1, hold = 0, zoom in = 1
bool AP_Mount_Siyi::set_zoom_step(int8_t zoom_step)
// set zoom specified as a rate or percentage
bool AP_Mount_Siyi::set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value)
{
return send_1byte_packet(SiyiCommandId::MANUAL_ZOOM_AND_AUTO_FOCUS, (uint8_t)zoom_step);
if (zoom_type == AP_Camera::ZoomType::RATE) {
uint8_t zoom_step = 0;
if (zoom_value > 0) {
zoom_step = 1;
}
if (zoom_value < 0) {
zoom_step = UINT8_MAX;
}
return send_1byte_packet(SiyiCommandId::MANUAL_ZOOM_AND_AUTO_FOCUS, zoom_step);
}
// unsupported zoom type
return false;
}
// set focus in, out or hold. returns true on success

5
libraries/AP_Mount/AP_Mount_Siyi.h
View File

@ -62,9 +62,8 @@ public:
// set start_recording = true to start record, false to stop recording
bool record_video(bool start_recording) override;
// set camera zoom step. returns true on success
// zoom out = -1, hold = 0, zoom in = 1
bool set_zoom_step(int8_t zoom_step) override;
// set zoom specified as a rate or percentage
bool set_zoom(AP_Camera::ZoomType zoom_type, float zoom_value) override;
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1