AP_Camera: support send-thermal-range

libraries/AP_Camera/AP_Camera.cpp

@@ -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
 */

libraries/AP_Camera/AP_Camera.h

@@ -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

libraries/AP_Camera/AP_Camera_Backend.h

@@ -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

libraries/AP_Camera/AP_Camera_Mount.cpp

@@ -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)

libraries/AP_Camera/AP_Camera_Mount.h

@@ -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;

libraries/AP_Camera/AP_Camera_config.h

@@ -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