Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Camera: add support for do_digicam_x via command_long

Browse Source
This commit is contained in:
squilter 2015-09-06 16:41:47 -04:00 committed by Randy Mackay
parent 9a76f0ecf0
commit 8391764c60
2 changed files with 23 additions and 41 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

58
libraries/AP_Camera/AP_Camera.cpp
View File

@ -138,33 +138,17 @@ AP_Camera::trigger_pic_cleanup()
}
}
/// decode MavLink that controls camera
/// decode deprecated MavLink message that controls camera.
void
AP_Camera::control_msg(mavlink_message_t* msg)
{
__mavlink_digicam_control_t packet;
mavlink_msg_digicam_control_decode(msg, &packet);
// This values may or not be used by APM (the shot is)
// They are bypassed as "echo" to a external specialized board
/*
* packet.command_id
* packet.extra_param
* packet.extra_value
* packet.focus_lock
* packet.session
* packet.shot
* packet.zoom_pos
* packet.zoom_step
*/
if (packet.shot)
{
trigger_pic(false);
}
control(packet.session, packet.zoom_pos, packet.zoom_step, packet.focus_lock, packet.shot, packet.command_id);
}
// Mission command processing
void AP_Camera::configure_cmd(const AP_Mission::Mission_Command& cmd)
void AP_Camera::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time)
{
// we cannot process the configure command so convert to mavlink message
// and send to all components in case they and process it
@ -173,17 +157,13 @@ void AP_Camera::configure_cmd(const AP_Mission::Mission_Command& cmd)
mavlink_command_long_t mav_cmd_long = {};
// convert mission command to mavlink command_long
mav_cmd_long.target_system = 0;
mav_cmd_long.target_component = 0;
mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONFIGURE;
mav_cmd_long.confirmation = 0;
mav_cmd_long.param1 = cmd.content.digicam_configure.shooting_mode;
mav_cmd_long.param2 = cmd.content.digicam_configure.shutter_speed;
mav_cmd_long.param3 = cmd.content.digicam_configure.aperture;
mav_cmd_long.param4 = cmd.content.digicam_configure.ISO;
mav_cmd_long.param5 = cmd.content.digicam_configure.exposure_type;
mav_cmd_long.param6 = cmd.content.digicam_configure.cmd_id;
mav_cmd_long.param7 = cmd.content.digicam_configure.engine_cutoff_time;
mav_cmd_long.param1 = shooting_mode;
mav_cmd_long.param2 = shutter_speed;
mav_cmd_long.param3 = aperture;
mav_cmd_long.param4 = ISO;
mav_cmd_long.param5 = exposure_type;
mav_cmd_long.param6 = cmd_id;
mav_cmd_long.param7 = engine_cutoff_time;
// Encode Command long into MAVLINK msg
mavlink_msg_command_long_encode(0, 0, &msg, &mav_cmd_long);
@ -192,10 +172,12 @@ void AP_Camera::configure_cmd(const AP_Mission::Mission_Command& cmd)
GCS_MAVLINK::send_to_components(&msg);
}
void AP_Camera::control_cmd(const AP_Mission::Mission_Command& cmd)
void AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)
{
// take picture
trigger_pic(false);
if(is_equal(shooting_cmd,1.0f)){
trigger_pic(false);
}
mavlink_message_t msg;
mavlink_command_long_t mav_cmd_long = {};
@ -205,12 +187,12 @@ void AP_Camera::control_cmd(const AP_Mission::Mission_Command& cmd)
mav_cmd_long.target_component = 0;
mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONTROL;
mav_cmd_long.confirmation = 0;
mav_cmd_long.param1 = cmd.content.digicam_control.session;
mav_cmd_long.param2 = cmd.content.digicam_control.zoom_pos;
mav_cmd_long.param3 = cmd.content.digicam_control.zoom_step;
mav_cmd_long.param4 = cmd.content.digicam_control.focus_lock;
mav_cmd_long.param5 = cmd.content.digicam_control.shooting_cmd;
mav_cmd_long.param6 = cmd.content.digicam_control.cmd_id;
mav_cmd_long.param1 = session;
mav_cmd_long.param2 = zoom_pos;
mav_cmd_long.param3 = zoom_step;
mav_cmd_long.param4 = focus_lock;
mav_cmd_long.param5 = shooting_cmd;
mav_cmd_long.param6 = cmd_id;
// Encode Command long into MAVLINK msg
mavlink_msg_command_long_encode(0, 0, &msg, &mav_cmd_long);

6
libraries/AP_Camera/AP_Camera.h
View File

@ -52,9 +52,9 @@ public:
void control_msg(mavlink_message_t* msg);
void send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS &ahrs, const Location &current_loc);
// Mission command processing
void configure_cmd(const AP_Mission::Mission_Command& cmd);
void control_cmd(const AP_Mission::Mission_Command& cmd);
// Command processing
void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time);
void control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id);
// set camera trigger distance in a mission
void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); }