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AP_Mount: add set_tracking accessor

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This commit is contained in:
Randy Mackay 2023-07-06 13:55:23 +09:00
parent 471f528233
commit ddb91afdde
3 changed files with 22 additions and 0 deletions
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12
libraries/AP_Mount/AP_Mount.cpp
View File

@ -751,6 +751,18 @@ SetFocusResult AP_Mount::set_focus(uint8_t instance, FocusType focus_type, float
return backend->set_focus(focus_type, focus_value);
}
// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
bool AP_Mount::set_tracking(uint8_t instance, TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2)
{
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return backend->set_tracking(tracking_type, p1, p2);
}
// send camera information message to GCS
void AP_Mount::send_camera_information(mavlink_channel_t chan) const
{

5
libraries/AP_Mount/AP_Mount.h
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@ -218,6 +218,11 @@ public:
// focus in = -1, focus hold = 0, focus out = 1
SetFocusResult set_focus(uint8_t instance, FocusType focus_type, float focus_value);
// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
bool set_tracking(uint8_t instance, TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2);
// send camera information message to GCS
void send_camera_information(mavlink_channel_t chan) const;

5
libraries/AP_Mount/AP_Mount_Backend.h
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@ -157,6 +157,11 @@ public:
// focus in = -1, focus hold = 0, focus out = 1
virtual SetFocusResult set_focus(FocusType focus_type, float focus_value) { return SetFocusResult::UNSUPPORTED; }
// set tracking to none, point or rectangle (see TrackingType enum)
// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
virtual bool set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2) { return false; }
// send camera information message to GCS
virtual void send_camera_information(mavlink_channel_t chan) const {}