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AP_Camera: camera_fov_status includes field-of-view

This commit is contained in:
Randy Mackay 2023-11-02 12:34:31 +09:00
parent 7d4d2f98bf
commit 73589a276e
4 changed files with 24 additions and 2 deletions
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4
libraries/AP_Camera/AP_Camera_Backend.cpp
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@ -280,8 +280,8 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
poi_loc.lng, poi_loc.lng,
poi_loc.alt, poi_loc.alt,
quat_array, quat_array,
NaN, // currently setting hfov as NaN horizontal_fov() > 0 ? horizontal_fov() : NaN,
NaN // currently setting vfov as NaN vertical_fov() > 0 ? vertical_fov() : NaN
); );
} }
#endif #endif

4
libraries/AP_Camera/AP_Camera_Backend.h
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@ -85,6 +85,10 @@ public:
// set camera lens as a value from 0 to 5 // set camera lens as a value from 0 to 5
virtual bool set_lens(uint8_t lens) { return false; } virtual bool set_lens(uint8_t lens) { return false; }
// get camera image horizontal or vertical field of view in degrees. returns 0 if unknown
float horizontal_fov() const { return MAX(0, _params.hfov); }
float vertical_fov() const { return MAX(0, _params.vfov); }
// handle MAVLink messages from the camera // handle MAVLink messages from the camera
virtual void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) {} virtual void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) {}

16
libraries/AP_Camera/AP_Camera_Params.cpp
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@ -87,6 +87,22 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("_MNT_INST", 11, AP_Camera_Params, mount_instance, 0), AP_GROUPINFO("_MNT_INST", 11, AP_Camera_Params, mount_instance, 0),
// @Param: _HFOV
// @DisplayName: Camera horizontal field of view
// @Description: Camera horizontal field of view. 0 if unknown
// @Units: deg
// @Range: 0 360
// @User: Standard
AP_GROUPINFO("_HFOV", 12, AP_Camera_Params, hfov, 0),
// @Param: _VFOV
// @DisplayName: Camera vertical field of view
// @Description: Camera vertical field of view. 0 if unknown
// @Units: deg
// @Range: 0 180
// @User: Standard
AP_GROUPINFO("_VFOV", 13, AP_Camera_Params, vfov, 0),
AP_GROUPEND AP_GROUPEND
}; };

2
libraries/AP_Camera/AP_Camera_Params.h
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@ -23,6 +23,8 @@ public:
AP_Float interval_min; // minimum time (in seconds) between shots required by camera AP_Float interval_min; // minimum time (in seconds) between shots required by camera
AP_Int8 options; // whether to start recording when armed and stop when disarmed AP_Int8 options; // whether to start recording when armed and stop when disarmed
AP_Int8 mount_instance; // mount instance to which camera is associated with AP_Int8 mount_instance; // mount instance to which camera is associated with
AP_Float hfov; // horizontal field of view in degrees
AP_Float vfov; // vertical field of view in degrees
// pin number for accurate camera feedback messages // pin number for accurate camera feedback messages
AP_Int8 feedback_pin; AP_Int8 feedback_pin;