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https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
AP_Camera: Add handling of GoPro mavlink commands
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libraries/AP_Camera
@ -10,6 +10,7 @@
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#include <SRV_Channel/SRV_Channel.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_GPS/AP_GPS.h>
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#include "AP_Camera_SoloGimbal.h"
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// ------------------------------
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#define CAM_DEBUG DISABLED
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@ -18,7 +19,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
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// @Param: TRIGG_TYPE
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// @DisplayName: Camera shutter (trigger) type
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// @Description: how to trigger the camera to take a picture
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// @Values: 0:Servo,1:Relay
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// @Values: 0:Servo,1:Relay, 2:GoPro in Solo Gimbal
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// @User: Standard
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AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE),
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@ -140,7 +141,6 @@ AP_Camera::relay_pic()
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}
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/// single entry point to take pictures
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/// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components
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void AP_Camera::trigger_pic()
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{
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setup_feedback_callback();
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@ -153,6 +153,9 @@ void AP_Camera::trigger_pic()
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case AP_CAMERA_TRIGGER_TYPE_RELAY:
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relay_pic(); // basic relay activation
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break;
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case AP_CAMERA_TRIGGER_TYPE_GOPRO: // gopro in Solo Gimbal
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AP_Camera_SoloGimbal::gopro_shutter_toggle();
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break;
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}
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log_picture();
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@ -196,6 +199,35 @@ AP_Camera::trigger_pic_cleanup()
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}
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}
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void AP_Camera::handle_message(mavlink_channel_t chan, const mavlink_message_t &msg)
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{
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switch (msg.msgid) {
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case MAVLINK_MSG_ID_DIGICAM_CONTROL:
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control_msg(msg);
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break;
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case MAVLINK_MSG_ID_GOPRO_HEARTBEAT:
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// heartbeat from the Solo gimbal with a GoPro
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if (_trigger_type == AP_CAMERA_TRIGGER_TYPE_GOPRO) {
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AP_Camera_SoloGimbal::handle_gopro_heartbeat(chan, msg);
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break;
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}
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break;
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}
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}
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/// momentary switch to cycle camera modes
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void AP_Camera::cam_mode_toggle()
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{
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switch (_trigger_type) {
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case AP_CAMERA_TRIGGER_TYPE_GOPRO:
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AP_Camera_SoloGimbal::gopro_capture_mode_toggle();
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break;
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default:
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// no other cameras use this yet
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break;
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}
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}
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/// decode deprecated MavLink message that controls camera.
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void
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AP_Camera::control_msg(const mavlink_message_t &msg)
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@ -7,6 +7,7 @@
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#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
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#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
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#define AP_CAMERA_TRIGGER_TYPE_GOPRO 2 // GoPro in Solo gimbal
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#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE AP_CAMERA_TRIGGER_TYPE_SERVO // default is to use servo to trigger camera
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@ -41,7 +42,8 @@ public:
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}
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// MAVLink methods
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void control_msg(const mavlink_message_t &msg);
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void handle_message(mavlink_channel_t chan,
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const mavlink_message_t &msg);
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void send_feedback(mavlink_channel_t chan);
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// Command processing
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@ -55,6 +57,9 @@ public:
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_trigg_dist.set(distance_m);
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}
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// momentary switch to change camera modes
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void cam_mode_toggle();
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void take_picture();
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// Update - to be called periodically @at least 10Hz
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@ -80,7 +85,9 @@ private:
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static AP_Camera *_singleton;
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AP_Int8 _trigger_type; // 0:Servo,1:Relay
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void control_msg(const mavlink_message_t &msg);
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AP_Int8 _trigger_type; // 0:Servo,1:Relay, 2:GoPro in Solo Gimbal
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AP_Int8 _trigger_duration; // duration in 10ths of a second that the camera shutter is held open
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AP_Int8 _relay_on; // relay value to trigger camera
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AP_Int16 _servo_on_pwm; // PWM value to move servo to when shutter is activated
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112
libraries/AP_Camera/AP_Camera_SoloGimbal.cpp
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112
libraries/AP_Camera/AP_Camera_SoloGimbal.cpp
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@ -0,0 +1,112 @@
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#include "AP_Camera_SoloGimbal.h"
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#include <GCS_MAVLink/GCS.h>
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GOPRO_CAPTURE_MODE AP_Camera_SoloGimbal::gopro_capture_mode;
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GOPRO_HEARTBEAT_STATUS AP_Camera_SoloGimbal::gopro_status;
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bool AP_Camera_SoloGimbal::gopro_is_recording;
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mavlink_channel_t AP_Camera_SoloGimbal::heartbeat_channel;
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// Toggle the shutter on the GoPro
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// This is so ArduPilot can toggle the shutter directly, either for mission/GCS commands, or when the
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// Solo's gimbal is installed on a vehicle other than a Solo. The usual GoPro controls thorugh the
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// Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
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void AP_Camera_SoloGimbal::gopro_shutter_toggle()
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{
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if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
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gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available");
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return;
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}
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const uint8_t gopro_shutter_start[4] = { 1, 0, 0, 0};
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const uint8_t gopro_shutter_stop[4] = { 0, 0, 0, 0};
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if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) {
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// Trigger shutter start to take a photo
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro Photo Trigger");
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
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} else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) {
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if (gopro_is_recording) {
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// GoPro is recording, so stop recording
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Stop");
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop);
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} else {
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// GoPro is not recording, so start recording
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Start");
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
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}
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} else {
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gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode");
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}
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}
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// Cycle the GoPro capture mode
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// This is so ArduPilot can cycle through the capture modes of the GoPro directly, probably with an RC Aux function.
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// This is primarily for Solo's gimbal being installed on a vehicle other than a Solo. The usual GoPro controls
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// through the Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
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void AP_Camera_SoloGimbal::gopro_capture_mode_toggle()
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{
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uint8_t gopro_capture_mode_values[4] = { };
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if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
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gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available");
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return;
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}
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switch(gopro_capture_mode) {
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case GOPRO_CAPTURE_MODE_VIDEO:
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if (gopro_is_recording) {
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// GoPro is recording, cannot change modes
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro recording, can't change modes");
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} else {
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// Change to camera mode
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gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO;
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode photo");
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}
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break;
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case GOPRO_CAPTURE_MODE_PHOTO:
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default:
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// Change to video mode
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gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_VIDEO;
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode video");
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break;
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}
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}
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// heartbeat from the Solo gimbal GoPro
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void AP_Camera_SoloGimbal::handle_gopro_heartbeat(mavlink_channel_t chan, const mavlink_message_t &msg)
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{
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mavlink_gopro_heartbeat_t report_msg;
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mavlink_msg_gopro_heartbeat_decode(&msg, &report_msg);
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gopro_is_recording = report_msg.flags & GOPRO_FLAG_RECORDING;
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heartbeat_channel = chan;
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switch((GOPRO_HEARTBEAT_STATUS)report_msg.status) {
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case GOPRO_HEARTBEAT_STATUS_DISCONNECTED:
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case GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE:
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case GOPRO_HEARTBEAT_STATUS_ERROR:
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case GOPRO_HEARTBEAT_STATUS_CONNECTED:
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gopro_status = (GOPRO_HEARTBEAT_STATUS)report_msg.status;
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break;
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case GOPRO_HEARTBEAT_STATUS_ENUM_END:
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break;
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}
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switch((GOPRO_CAPTURE_MODE)report_msg.capture_mode){
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case GOPRO_CAPTURE_MODE_VIDEO:
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case GOPRO_CAPTURE_MODE_PHOTO:
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case GOPRO_CAPTURE_MODE_BURST:
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case GOPRO_CAPTURE_MODE_TIME_LAPSE:
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case GOPRO_CAPTURE_MODE_MULTI_SHOT:
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case GOPRO_CAPTURE_MODE_PLAYBACK:
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case GOPRO_CAPTURE_MODE_SETUP:
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case GOPRO_CAPTURE_MODE_UNKNOWN:
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gopro_capture_mode = (GOPRO_CAPTURE_MODE)report_msg.capture_mode;
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break;
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case GOPRO_CAPTURE_MODE_ENUM_END:
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break;
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}
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}
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libraries/AP_Camera/AP_Camera_SoloGimbal.h
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18
libraries/AP_Camera/AP_Camera_SoloGimbal.h
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@ -0,0 +1,18 @@
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#pragma once
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#include <GCS_MAVLink/GCS_MAVLink.h>
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class AP_Camera_SoloGimbal {
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public:
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static void gopro_shutter_toggle();
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static void gopro_capture_mode_toggle();
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static void handle_gopro_heartbeat(mavlink_channel_t chan, const mavlink_message_t &msg);
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private:
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static GOPRO_CAPTURE_MODE gopro_capture_mode;
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static GOPRO_HEARTBEAT_STATUS gopro_status;
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static bool gopro_is_recording;
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static mavlink_channel_t heartbeat_channel;
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};
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