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RC_Channel: add camera lens aux function

This commit is contained in:
Randy Mackay 2023-07-14 20:20:04 +09:00
parent 0137b1f31e
commit dd3376a808
2 changed files with 17 additions and 0 deletions
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15
libraries/RC_Channel/RC_Channel.cpp
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@ -231,6 +231,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Values{Copter, Rover, Plane, Blimp}: 172:Battery MPPT Enable
// @Values{Plane}: 173:Plane AUTO Mode Landing Abort
// @Values{Copter, Rover, Plane, Blimp}: 174:Camera Image Tracking
// @Values{Copter, Rover, Plane, Blimp}: 175:Camera Lens
// @Values{Rover}: 201:Roll
// @Values{Rover}: 202:Pitch
// @Values{Rover}: 207:MainSail
@ -762,6 +763,7 @@ const RC_Channel::LookupTable RC_Channel::lookuptable[] = {
{ AUX_FUNC::CAMERA_MANUAL_FOCUS, "Camera Manual Focus"},
{ AUX_FUNC::CAMERA_AUTO_FOCUS, "Camera Auto Focus"},
{ AUX_FUNC::CAMERA_IMAGE_TRACKING, "Camera Image Tracking"},
{ AUX_FUNC::CAMERA_LENS, "Camera Lens"},
};
/* lookup the announcement for switch change */
@ -990,6 +992,16 @@ bool RC_Channel::do_aux_function_camera_image_tracking(const AuxSwitchPos ch_fla
// Low or Mediums disables tracking. (0.5,0.5) is still passed in but ignored
return camera->set_tracking(ch_flag == AuxSwitchPos::HIGH ? TrackingType::TRK_POINT : TrackingType::TRK_NONE, Vector2f{0.5, 0.5}, Vector2f{});
}
bool RC_Channel::do_aux_function_camera_lens(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
// Low selects lens 0 (default), Mediums selects lens1, High selects lens2
return camera->set_lens((uint8_t)ch_flag);
}
#endif
void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
@ -1491,6 +1503,9 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
case AUX_FUNC::CAMERA_IMAGE_TRACKING:
return do_aux_function_camera_image_tracking(ch_flag);
case AUX_FUNC::CAMERA_LENS:
return do_aux_function_camera_lens(ch_flag);
#endif
#if HAL_MOUNT_ENABLED

2
libraries/RC_Channel/RC_Channel.h
View File

@ -247,6 +247,7 @@ public:
BATTERY_MPPT_ENABLE = 172,// Battery MPPT Power enable. high = ON, mid = auto (controlled by mppt/batt driver), low = OFF. This effects all MPPTs.
PLANE_AUTO_LANDING_ABORT = 173, // Abort Glide-slope or VTOL landing during payload place or do_land type mission items
CAMERA_IMAGE_TRACKING = 174, // camera image tracking
CAMERA_LENS = 175, // camera lens selection
// inputs from 200 will eventually used to replace RCMAP
@ -346,6 +347,7 @@ protected:
bool do_aux_function_camera_manual_focus(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_auto_focus(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_image_tracking(const AuxSwitchPos ch_flag);
bool do_aux_function_camera_lens(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_control(const AuxSwitchPos ch_flag);
void do_aux_function_runcam_osd_control(const AuxSwitchPos ch_flag);
void do_aux_function_fence(const AuxSwitchPos ch_flag);