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AP_Camera: add AP_CAMERA_MAVLINKCAMV2_ENABLED definition

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This commit is contained in:
Randy Mackay 2023-04-04 15:36:54 +09:00
parent a9d271ff6a
commit b328f84260
5 changed files with 12 additions and 5 deletions
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3
libraries/AP_Camera/AP_Camera.cpp
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@ -164,7 +164,8 @@ void AP_Camera::init()
case CameraType::MAVLINK:
_backends[instance] = new AP_Camera_MAVLink(*this, _params[instance], instance);
break;
#endif
#if AP_CAMERA_MAVLINKCAMV2_ENABLED
// check for MAVLink Camv2 driver
case CameraType::MAVLINK_CAMV2:
_backends[instance] = new AP_Camera_MAVLinkCamV2(*this, _params[instance], instance);

2
libraries/AP_Camera/AP_Camera.h
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@ -65,6 +65,8 @@ public:
#endif
#if AP_CAMERA_MAVLINK_ENABLED
MAVLINK = 5, // MAVLink enabled camera
#endif
#if AP_CAMERA_MAVLINKCAMV2_ENABLED
MAVLINK_CAMV2 = 6, // MAVLink camera v2
#endif
};

4
libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
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@ -1,6 +1,6 @@
#include "AP_Camera_MAVLinkCamV2.h"
#if AP_CAMERA_MAVLINK_ENABLED
#if AP_CAMERA_MAVLINKCAMV2_ENABLED
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
@ -219,4 +219,4 @@ void AP_Camera_MAVLinkCamV2::request_camera_information() const
_link->send_message(MAVLINK_MSG_ID_COMMAND_LONG, (const char*)&pkt);
}
#endif // AP_CAMERA_MAVLINK_ENABLED
#endif // AP_CAMERA_MAVLINKCAMV2_ENABLED

4
libraries/AP_Camera/AP_Camera_MAVLinkCamV2.h
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@ -21,7 +21,7 @@
#include "AP_Camera_Backend.h"
#if AP_CAMERA_MAVLINK_ENABLED
#if AP_CAMERA_MAVLINKCAMV2_ENABLED
class AP_Camera_MAVLinkCamV2 : public AP_Camera_Backend
{
@ -75,4 +75,4 @@ private:
uint32_t _cap_flags; // capability flags from CAMERA_INFORMATION msg, see MAVLink CAMERA_CAP_FLAGS enum
};
#endif // AP_CAMERA_MAVLINK_ENABLED
#endif // AP_CAMERA_MAVLINKCAMV2_ENABLED

4
libraries/AP_Camera/AP_Camera_config.h
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@ -15,6 +15,10 @@
#define AP_CAMERA_MAVLINK_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_CAMERA_MAVLINKCAMV2_ENABLED
#define AP_CAMERA_MAVLINKCAMV2_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
#endif
#ifndef AP_CAMERA_MOUNT_ENABLED
#define AP_CAMERA_MOUNT_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_MOUNT_ENABLED
#endif