Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Camera: support send-thermal-range

This commit is contained in:
Randy Mackay 2024-08-24 12:26:35 +09:00
parent 2db7a9520a
commit 6f2a88f707
6 changed files with 54 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
libraries/AP_Camera/AP_Camera.cpp
View File

@ -461,6 +461,12 @@ bool AP_Camera::send_mavlink_message(GCS_MAVLINK &link, const enum ap_message ms
CHECK_PAYLOAD_SIZE2(CAMERA_CAPTURE_STATUS);
send_camera_capture_status(chan);
break;
#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
case MSG_CAMERA_THERMAL_RANGE:
CHECK_PAYLOAD_SIZE2(CAMERA_THERMAL_RANGE);
send_camera_thermal_range(chan);
break;
#endif
default:
// should not reach this; should only be called for specific IDs
@ -615,6 +621,21 @@ void AP_Camera::send_camera_capture_status(mavlink_channel_t chan)
}
}
#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
// send camera thermal range message to GCS
void AP_Camera::send_camera_thermal_range(mavlink_channel_t chan)
{
WITH_SEMAPHORE(_rsem);
// call each instance
for (uint8_t instance = 0; instance < AP_CAMERA_MAX_INSTANCES; instance++) {
if (_backends[instance] != nullptr) {
_backends[instance]->send_camera_thermal_range(chan);
}
}
}
#endif
/*
update; triggers by distance moved and camera trigger
*/

5
libraries/AP_Camera/AP_Camera.h
View File

@ -240,6 +240,11 @@ private:
// send camera capture status message to GCS
void send_camera_capture_status(mavlink_channel_t chan);
#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
// send camera thermal range message to GCS
void send_camera_thermal_range(mavlink_channel_t chan);
#endif
HAL_Semaphore _rsem; // semaphore for multi-thread access
AP_Camera_Backend *primary; // primary camera backed
bool _is_in_auto_mode; // true if in AUTO mode

5
libraries/AP_Camera/AP_Camera_Backend.h
View File

@ -126,6 +126,11 @@ public:
// send camera capture status message to GCS
virtual void send_camera_capture_status(mavlink_channel_t chan) const;
#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
// send camera thermal range message to GCS
virtual void send_camera_thermal_range(mavlink_channel_t chan) const {};
#endif
#if AP_CAMERA_SCRIPTING_ENABLED
// accessor to allow scripting backend to retrieve state
// returns true on success and cam_state is filled in

13
libraries/AP_Camera/AP_Camera_Mount.cpp
View File

@ -109,6 +109,19 @@ void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
}
}
#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
// send camera thermal range message to GCS
void AP_Camera_Mount::send_camera_thermal_range(mavlink_channel_t chan) const
{
#if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
AP_Mount* mount = AP::mount();
if (mount != nullptr) {
mount->send_camera_thermal_range(get_mount_instance(), chan);
}
#endif
}
#endif // AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
#if AP_CAMERA_SCRIPTING_ENABLED
// change camera settings not normally used by autopilot
bool AP_Camera_Mount::change_setting(CameraSetting setting, float value)

5
libraries/AP_Camera/AP_Camera_Mount.h
View File

@ -70,6 +70,11 @@ public:
// send camera capture status message to GCS
void send_camera_capture_status(mavlink_channel_t chan) const override;
#if AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
// send camera thermal range message to GCS
void send_camera_thermal_range(mavlink_channel_t chan) const override;
#endif
#if AP_CAMERA_SCRIPTING_ENABLED
// change camera settings not normally used by autopilot
bool change_setting(CameraSetting setting, float value) override;

5
libraries/AP_Camera/AP_Camera_config.h
View File

@ -50,6 +50,11 @@
#define AP_CAMERA_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
#endif
// send thermal range is supported on a few thermal cameras but all are within mounts
#ifndef AP_CAMERA_SEND_THERMAL_RANGE_ENABLED
#define AP_CAMERA_SEND_THERMAL_RANGE_ENABLED AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
#endif
#ifndef HAL_RUNCAM_ENABLED
#define HAL_RUNCAM_ENABLED 1
#endif