Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-01 13:38:38 -04:00
Code Issues Packages Projects Releases Wiki Activity

GCS_MAVLink: add SEND_FOV_STATUS support

Browse Source
This commit is contained in:
Asif Khan 2023-09-21 11:38:00 +09:00 committed by Peter Barker
parent 2235a8e063
commit 8a791d6082
2 changed files with 14 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -998,6 +998,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_CAMERA_FEEDBACK, MSG_CAMERA_FEEDBACK},
{ MAVLINK_MSG_ID_CAMERA_INFORMATION, MSG_CAMERA_INFORMATION},
{ MAVLINK_MSG_ID_CAMERA_SETTINGS, MSG_CAMERA_SETTINGS},
{ MAVLINK_MSG_ID_CAMERA_FOV_STATUS, MSG_CAMERA_FOV_STATUS},
#endif
#if HAL_MOUNT_ENABLED
{ MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, MSG_GIMBAL_DEVICE_ATTITUDE_STATUS},
@ -5775,6 +5776,18 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
camera->send_camera_settings(chan);
}
break;
#if AP_CAMERA_SEND_FOV_STATUS_ENABLED
case MSG_CAMERA_FOV_STATUS:
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
break;
}
CHECK_PAYLOAD_SIZE(CAMERA_FOV_STATUS);
camera->send_camera_fov_status(chan);
}
break;
#endif
#endif
case MSG_SYSTEM_TIME:

1
libraries/GCS_MAVLink/ap_message.h
View File

@ -51,6 +51,7 @@ enum ap_message : uint8_t {
MSG_CAMERA_FEEDBACK,
MSG_CAMERA_INFORMATION,
MSG_CAMERA_SETTINGS,
MSG_CAMERA_FOV_STATUS,
MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
MSG_GIMBAL_MANAGER_INFORMATION,
MSG_GIMBAL_MANAGER_STATUS,