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AP_Camera: add sanity check for Siyi lens change

This commit is contained in:
Peter Barker 2024-07-10 22:41:02 +10:00 committed by Peter Barker
parent f1e67ba747
commit 7f97e897e2
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -916,7 +916,7 @@ bool AP_Mount_Siyi::set_lens(uint8_t lens)
}
// maps lens to siyi camera image type so that lens of 0, 1, 2 are more useful
static CameraImageType cam_image_type_table[9] = {
static const CameraImageType cam_image_type_table[] {
CameraImageType::MAIN_ZOOM_SUB_THERMAL, // 3
CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL, // 5
CameraImageType::MAIN_THERMAL_SUB_ZOOM, // 7
@ -928,6 +928,10 @@ bool AP_Mount_Siyi::set_lens(uint8_t lens)
CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE, // 8
};
if (lens >= ARRAY_SIZE(cam_image_type_table)) {
return false;
}
// send desired image type to camera
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)cam_image_type_table[lens]);
}