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AP_Camera: remove lf from panic 

correct camera info message and defend against -1
This commit is contained in:
Andy Piper 2024-12-13 08:44:09 +00:00
parent 631c4944ff
commit 684d95a826
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_Camera/AP_RunCam.cpp
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@ -131,7 +131,7 @@ AP_RunCam::AP_RunCam(AP_Camera &frontend, AP_Camera_Params &params, uint8_t inst
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
if (_singleton != nullptr && _singleton->_instance == instance) { if (_singleton != nullptr && _singleton->_instance == instance) {
AP_HAL::panic("AP_RunCam instance must be a singleton %u\n", instance); AP_HAL::panic("AP_RunCam instance must be a singleton %u", instance);
} }
if (_singleton == nullptr) { if (_singleton == nullptr) {
_singleton = this; _singleton = this;
@ -1078,12 +1078,14 @@ bool AP_RunCam::healthy() const
} }
// momentary switch to change camera between picture and video modes // momentary switch to change camera between picture and video modes
void AP_RunCam::cam_mode_toggle() { void AP_RunCam::cam_mode_toggle()
{
} }
// entry point to actually take a picture. returns true on success // entry point to actually take a picture. returns true on success
bool AP_RunCam::trigger_pic() { bool AP_RunCam::trigger_pic()
{
return false; return false;
} }
@ -1091,7 +1093,7 @@ bool AP_RunCam::trigger_pic() {
void AP_RunCam::send_camera_information(mavlink_channel_t chan) const void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
{ {
// exit immediately if not initialised // exit immediately if not initialised
if (!camera_ready() || _cam_type.get() == 0 || _cam_type.get() > int8_t(ARRAY_SIZE(_models))) { if (!camera_ready() || _cam_type.get() <= 0 || _cam_type.get() > int8_t(ARRAY_SIZE(_models))) {
return; return;
} }
@ -1118,9 +1120,9 @@ void AP_RunCam::send_camera_information(mavlink_channel_t chan) const
vendor_name, // vendor_name uint8_t[32] vendor_name, // vendor_name uint8_t[32]
model_name, // model_name uint8_t[32] model_name, // model_name uint8_t[32]
0, // firmware version uint32_t 0, // firmware version uint32_t
NaNf, // focal_length float (mm)
NaNf, // sensor_size_h float (mm) NaNf, // sensor_size_h float (mm)
NaNf, // sensor_size_v float (mm) NaNf, // sensor_size_v float (mm)
0, // sensor_size_v float (mm)
0, // resolution_h uint16_t (pix) 0, // resolution_h uint16_t (pix)
0, // resolution_v uint16_t (pix) 0, // resolution_v uint16_t (pix)
0, // lens_id uint8_t 0, // lens_id uint8_t