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AP_Mount: Siyi ZT6 set lens fix 

ZT6 has RGB and Thermal image sensors only
This commit is contained in:
Randy Mackay 2024-08-21 20:11:08 +09:00 committed by Andrew Tridgell
parent 0874202aa1
commit 5bcbf56a47
1 changed files with 42 additions and 17 deletions
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59
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -910,30 +910,55 @@ SetFocusResult AP_Mount_Siyi::set_focus(FocusType focus_type, float focus_value)
// set camera lens as a value from 0 to 8
bool AP_Mount_Siyi::set_lens(uint8_t lens)
{
// only supported on ZT30. sanity check lens values
if ((_hardware_model != HardwareModel::ZT30) || (lens > 8)) {
return false;
CameraImageType selected_lens;
switch (_hardware_model) {
case HardwareModel::ZT30: {
// maps lens to siyi camera image type so that lens of 0, 1, 2 are more useful
static const CameraImageType cam_image_type_table[] {
CameraImageType::MAIN_ZOOM_SUB_THERMAL, // 3
CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL, // 5
CameraImageType::MAIN_THERMAL_SUB_ZOOM, // 7
CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE, // 0
CameraImageType::MAIN_PIP_WIDEANGLE_THERMAL_SUB_ZOOM, // 1
CameraImageType::MAIN_PIP_ZOOM_WIDEANGLE_SUB_THERMAL, // 2
CameraImageType::MAIN_ZOOM_SUB_WIDEANGLE, // 4
CameraImageType::MAIN_WIDEANGLE_SUB_ZOOM, // 6
CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE, // 8
};
// sanity check lens values
if (lens >= ARRAY_SIZE(cam_image_type_table)) {
return false;
}
selected_lens = cam_image_type_table[lens];
break;
}
// maps lens to siyi camera image type so that lens of 0, 1, 2 are more useful
static const CameraImageType cam_image_type_table[] {
CameraImageType::MAIN_ZOOM_SUB_THERMAL, // 3
CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL, // 5
CameraImageType::MAIN_THERMAL_SUB_ZOOM, // 7
CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE, // 0
CameraImageType::MAIN_PIP_WIDEANGLE_THERMAL_SUB_ZOOM, // 1
CameraImageType::MAIN_PIP_ZOOM_WIDEANGLE_SUB_THERMAL, // 2
CameraImageType::MAIN_ZOOM_SUB_WIDEANGLE, // 4
CameraImageType::MAIN_WIDEANGLE_SUB_ZOOM, // 6
CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE, // 8
};
case HardwareModel::ZT6: {
// maps lens to siyi camera image type so that lens of 0, 1, 2 are more useful
static const CameraImageType cam_image_type_table[] {
CameraImageType::MAIN_ZOOM_SUB_THERMAL, // 3
CameraImageType::MAIN_THERMAL_SUB_ZOOM, // 7
CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE, // 0
};
if (lens >= ARRAY_SIZE(cam_image_type_table)) {
// sanity check lens values
if (lens >= ARRAY_SIZE(cam_image_type_table)) {
return false;
}
selected_lens = cam_image_type_table[lens];
break;
}
default:
// set lens not supported on this camera
return false;
}
// send desired image type to camera
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)cam_image_type_table[lens]);
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)selected_lens);
}
// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type