From 78d88d11a3fcff40775c2e88485384ebc0dc3cc8 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 23 Aug 2024 14:54:59 +0900
Subject: [PATCH] AP_Camera: add change settings

---
 libraries/AP_Camera/AP_Camera.cpp          | 13 +++++++++++++
 libraries/AP_Camera/AP_Camera.h            |  3 +++
 libraries/AP_Camera/AP_Camera_Backend.h    |  3 +++
 libraries/AP_Camera/AP_Camera_Mount.cpp    | 12 ++++++++++++
 libraries/AP_Camera/AP_Camera_Mount.h      |  5 +++++
 libraries/AP_Camera/AP_Camera_shareddefs.h |  6 ++++++
 6 files changed, 42 insertions(+)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index b3869c4818..c37243723e 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -780,6 +780,19 @@ bool AP_Camera::get_state(uint8_t instance, camera_state_t& cam_state)
     }
     return backend->get_state(cam_state);
 }
+
+// change camera settings not normally used by autopilot
+bool AP_Camera::change_setting(uint8_t instance, CameraSetting setting, float value)
+{
+    WITH_SEMAPHORE(_rsem);
+
+    auto *backend = get_instance(instance);
+    if (backend == nullptr) {
+        return false;
+    }
+    return backend->change_setting(setting, value);
+}
+
 #endif // #if AP_CAMERA_SCRIPTING_ENABLED
 
 // return backend for instance number
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index dd9f4ddfde..28a27b0fa3 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -181,6 +181,9 @@ public:
     // accessor to allow scripting backend to retrieve state
     // returns true on success and cam_state is filled in
     bool get_state(uint8_t instance, camera_state_t& cam_state);
+
+    // change camera settings not normally used by autopilot
+    bool change_setting(uint8_t instance, CameraSetting setting, float value);
 #endif
 
     // Return true and the relay index if relay camera backend is selected, used for conversion to relay functions
diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index 6c5543cf82..d52944f5c0 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -130,6 +130,9 @@ public:
     // accessor to allow scripting backend to retrieve state
     // returns true on success and cam_state is filled in
     virtual bool get_state(AP_Camera::camera_state_t& cam_state) { return false; }
+
+    // change camera settings not normally used by autopilot
+    virtual bool change_setting(CameraSetting setting, float value) { return false; }
 #endif
 
 protected:
diff --git a/libraries/AP_Camera/AP_Camera_Mount.cpp b/libraries/AP_Camera/AP_Camera_Mount.cpp
index 29f0759116..b472d068eb 100644
--- a/libraries/AP_Camera/AP_Camera_Mount.cpp
+++ b/libraries/AP_Camera/AP_Camera_Mount.cpp
@@ -109,4 +109,16 @@ void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
     }
 }
 
+#if AP_CAMERA_SCRIPTING_ENABLED
+// change camera settings not normally used by autopilot
+bool AP_Camera_Mount::change_setting(CameraSetting setting, float value)
+{
+    AP_Mount* mount = AP::mount();
+    if (mount != nullptr) {
+        return mount->change_setting(get_mount_instance(), setting, value);
+    }
+    return false;
+}
+#endif
+
 #endif // AP_CAMERA_MOUNT_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_Mount.h b/libraries/AP_Camera/AP_Camera_Mount.h
index d001cb979d..b3dd450652 100644
--- a/libraries/AP_Camera/AP_Camera_Mount.h
+++ b/libraries/AP_Camera/AP_Camera_Mount.h
@@ -69,6 +69,11 @@ public:
 
     // send camera capture status message to GCS
     void send_camera_capture_status(mavlink_channel_t chan) const override;
+
+#if AP_CAMERA_SCRIPTING_ENABLED
+    // change camera settings not normally used by autopilot
+    bool change_setting(CameraSetting setting, float value) override;
+#endif
 };
 
 #endif // AP_CAMERA_MOUNT_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_shareddefs.h b/libraries/AP_Camera/AP_Camera_shareddefs.h
index 6543eff0bc..7579878c54 100644
--- a/libraries/AP_Camera/AP_Camera_shareddefs.h
+++ b/libraries/AP_Camera/AP_Camera_shareddefs.h
@@ -36,3 +36,9 @@ enum class TrackingType : uint8_t {
     TRK_RECTANGLE = 2   // tracking a rectangle
 };
 
+// camera settings not normally used by the autopilot
+enum class CameraSetting {
+    THERMAL_PALETTE = 0,    // set thermal palette
+    THERMAL_GAIN = 1,       // set thermal gain, value of 0:low gain, 1:high gain
+    THERMAL_RAW_DATA = 2,   // enable/disable thermal raw data
+};