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AP_Camera: add CAMx_OPTION support for start/stop recording when arm/Disarm

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This commit is contained in:
Asif Khan 2023-07-03 13:54:56 +05:30 committed by Andrew Tridgell
parent 0aab2f7974
commit 82b709083c
4 changed files with 22 additions and 0 deletions
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8
libraries/AP_Camera/AP_Camera_Backend.cpp
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@ -16,6 +16,14 @@ AP_Camera_Backend::AP_Camera_Backend(AP_Camera &frontend, AP_Camera_Params &para
// update - should be called at 50hz // update - should be called at 50hz
void AP_Camera_Backend::update() void AP_Camera_Backend::update()
{ {
// Check CAMx_OPTIONS and start/stop recording based on arm/disarm
if (_params.options.get() & CAMOPTIONS::REC_ARM_DISARM) {
if (hal.util->get_soft_armed() != last_is_armed) {
last_is_armed = hal.util->get_soft_armed();
record_video(last_is_armed);
}
}
// try to take picture if pending // try to take picture if pending
if (trigger_pending) { if (trigger_pending) {
take_picture(); take_picture();

6
libraries/AP_Camera/AP_Camera_Backend.h
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@ -36,6 +36,11 @@ public:
/* Do not allow copies */ /* Do not allow copies */
CLASS_NO_COPY(AP_Camera_Backend); CLASS_NO_COPY(AP_Camera_Backend);
enum CAMOPTIONS {
NONE = 0,
REC_ARM_DISARM = 1, // Recording start/stop on Arm/Disarm
};
// init - performs any required initialisation // init - performs any required initialisation
virtual void init() {}; virtual void init() {};
@ -138,6 +143,7 @@ protected:
uint32_t last_photo_time_ms; // system time that photo was last taken uint32_t last_photo_time_ms; // system time that photo was last taken
Location last_location; // Location that last picture was taken at (used for trigg_dist calculation) Location last_location; // Location that last picture was taken at (used for trigg_dist calculation)
uint16_t image_index; // number of pictures taken since boot uint16_t image_index; // number of pictures taken since boot
bool last_is_armed; // stores last arm/disarm state. true if it was armed lastly
}; };
#endif // AP_CAMERA_ENABLED #endif // AP_CAMERA_ENABLED

7
libraries/AP_Camera/AP_Camera_Params.cpp
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@ -74,6 +74,13 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
// @User: Standard // @User: Standard
AP_GROUPINFO("_FEEDBAK_POL", 9, AP_Camera_Params, feedback_polarity, 1), AP_GROUPINFO("_FEEDBAK_POL", 9, AP_Camera_Params, feedback_polarity, 1),
// @Param: _OPTIONS
// @DisplayName: Camera options
// @Description: Camera options bitmask
// @Bitmask: 0:None,1: Recording Starts at arming and stops at disarming
// @User: Standard
AP_GROUPINFO("_OPTIONS", 10, AP_Camera_Params, options, 0),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/AP_Camera/AP_Camera_Params.h
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@ -21,6 +21,7 @@ public:
AP_Float trigg_dist; // distance between trigger points (meters) AP_Float trigg_dist; // distance between trigger points (meters)
AP_Int8 relay_on; // relay value to trigger camera AP_Int8 relay_on; // relay value to trigger camera
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
// pin number for accurate camera feedback messages // pin number for accurate camera feedback messages
AP_Int8 feedback_pin; AP_Int8 feedback_pin;