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AP_Mission: add MAV_CMD_IMAGE_STOP_CAPTURE support

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Co-authored-by: Zachary Zalass <zachzalass@gmail.com>
This commit is contained in:
Asif Khan 2023-09-07 15:42:48 +05:30 committed by Peter Barker
parent f30af5e072
commit 844d552b22
2 changed files with 20 additions and 0 deletions
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12
libraries/AP_Mission/AP_Mission.cpp
View File

@ -378,6 +378,7 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
case MAV_CMD_JUMP_TAG: case MAV_CMD_JUMP_TAG:
case MAV_CMD_IMAGE_START_CAPTURE: case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_SET_CAMERA_ZOOM: case MAV_CMD_SET_CAMERA_ZOOM:
case MAV_CMD_SET_CAMERA_FOCUS: case MAV_CMD_SET_CAMERA_FOCUS:
case MAV_CMD_VIDEO_START_CAPTURE: case MAV_CMD_VIDEO_START_CAPTURE:
@ -422,6 +423,7 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
case MAV_CMD_DO_DIGICAM_CONTROL: case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_IMAGE_START_CAPTURE: case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_SET_CAMERA_ZOOM: case MAV_CMD_SET_CAMERA_ZOOM:
case MAV_CMD_SET_CAMERA_FOCUS: case MAV_CMD_SET_CAMERA_FOCUS:
case MAV_CMD_VIDEO_START_CAPTURE: case MAV_CMD_VIDEO_START_CAPTURE:
@ -1318,6 +1320,10 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
cmd.content.image_start_capture.start_seq_number = packet.param4; cmd.content.image_start_capture.start_seq_number = packet.param4;
break; break;
case MAV_CMD_IMAGE_STOP_CAPTURE:
cmd.p1 = packet.param1;
break;
case MAV_CMD_SET_CAMERA_ZOOM: case MAV_CMD_SET_CAMERA_ZOOM:
cmd.content.set_camera_zoom.zoom_type = packet.param1; cmd.content.set_camera_zoom.zoom_type = packet.param1;
cmd.content.set_camera_zoom.zoom_value = packet.param2; cmd.content.set_camera_zoom.zoom_value = packet.param2;
@ -1814,6 +1820,10 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
packet.param4 = cmd.content.image_start_capture.start_seq_number; packet.param4 = cmd.content.image_start_capture.start_seq_number;
break; break;
case MAV_CMD_IMAGE_STOP_CAPTURE:
packet.param1 = cmd.p1;
break;
case MAV_CMD_SET_CAMERA_ZOOM: case MAV_CMD_SET_CAMERA_ZOOM:
packet.param1 = cmd.content.set_camera_zoom.zoom_type; packet.param1 = cmd.content.set_camera_zoom.zoom_type;
packet.param2 = cmd.content.set_camera_zoom.zoom_value; packet.param2 = cmd.content.set_camera_zoom.zoom_value;
@ -2637,6 +2647,8 @@ const char *AP_Mission::Mission_Command::type() const
return "GimbalPitchYaw"; return "GimbalPitchYaw";
case MAV_CMD_IMAGE_START_CAPTURE: case MAV_CMD_IMAGE_START_CAPTURE:
return "ImageStartCapture"; return "ImageStartCapture";
case MAV_CMD_IMAGE_STOP_CAPTURE:
return "ImageStopCapture";
case MAV_CMD_SET_CAMERA_ZOOM: case MAV_CMD_SET_CAMERA_ZOOM:
return "SetCameraZoom"; return "SetCameraZoom";
case MAV_CMD_SET_CAMERA_FOCUS: case MAV_CMD_SET_CAMERA_FOCUS:

8
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -189,6 +189,14 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
} }
return false; return false;
case MAV_CMD_IMAGE_STOP_CAPTURE:
if (cmd.p1 == 0) {
// stop capture for each backend
camera->stop_capture();
return true;
}
return camera->stop_capture(cmd.p1);
case MAV_CMD_VIDEO_START_CAPTURE: case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE: case MAV_CMD_VIDEO_STOP_CAPTURE:
{ {