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AP_Mount: add and use global NaNf float value

This commit is contained in:
Peter Barker 2024-09-23 19:43:12 +10:00 committed by Peter Barker
parent 7710e3c9bc
commit edc0e46614
4 changed files with 14 additions and 23 deletions
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16
libraries/AP_Mount/AP_Mount_Siyi.cpp
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@ -1107,7 +1107,6 @@ void AP_Mount_Siyi::send_camera_information(mavlink_channel_t chan) const
void AP_Mount_Siyi::send_camera_settings(mavlink_channel_t chan) const
{
const uint8_t mode_id = (_config_info.record_status == RecordingStatus::ON) ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE;
const float NaN = nanf("0x4152");
const float zoom_mult_max = get_zoom_mult_max();
float zoom_pct = 0.0;
if (is_positive(zoom_mult_max)) {
@ -1120,14 +1119,13 @@ void AP_Mount_Siyi::send_camera_settings(mavlink_channel_t chan) const
AP_HAL::millis(), // time_boot_ms
mode_id, // camera mode (0:image, 1:video, 2:image survey)
zoom_pct, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaN); // focusLevel float, percentage from 0 to 100, NaN if unknown
NaNf); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
#if AP_MOUNT_SEND_THERMAL_RANGE_ENABLED
// send camera thermal range message to GCS
void AP_Mount_Siyi::send_camera_thermal_range(mavlink_channel_t chan) const
{
const float NaN = nanf("0x4152");
const uint32_t now_ms = AP_HAL::millis();
bool timeout = now_ms - _thermal.last_update_ms > AP_MOUNT_SIYI_THERM_TIMEOUT_MS;
@ -1137,12 +1135,12 @@ void AP_Mount_Siyi::send_camera_thermal_range(mavlink_channel_t chan) const
now_ms, // time_boot_ms
_instance + 1, // video stream id (assume one-to-one mapping with camera id)
_instance + 1, // camera device id
timeout ? NaN : _thermal.max_C, // max in degC
timeout ? NaN : _thermal.max_pos.x, // max x position
timeout ? NaN : _thermal.max_pos.y, // max y position
timeout ? NaN : _thermal.min_C, // min in degC
timeout ? NaN : _thermal.min_pos.x, // min x position
timeout ? NaN : _thermal.min_pos.y);// min y position
timeout ? NaNf : _thermal.max_C, // max in degC
timeout ? NaNf : _thermal.max_pos.x, // max x position
timeout ? NaNf : _thermal.max_pos.y, // max y position
timeout ? NaNf : _thermal.min_C, // min in degC
timeout ? NaNf : _thermal.min_pos.x, // min x position
timeout ? NaNf : _thermal.min_pos.y);// min y position
}
#endif

6
libraries/AP_Mount/AP_Mount_Topotek.cpp
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@ -566,15 +566,13 @@ void AP_Mount_Topotek::send_camera_settings(mavlink_channel_t chan) const
return;
}
const float NaN = nanf("0x4152");
// send CAMERA_SETTINGS message
mavlink_msg_camera_settings_send(
chan,
AP_HAL::millis(), // time_boot_ms
_recording ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
NaN, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaN); // focusLevel float, percentage from 0 to 100, NaN if unknown
NaNf, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaNf); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
// get rangefinder distance. Returns true on success

4
libraries/AP_Mount/AP_Mount_Viewpro.cpp
View File

@ -940,8 +940,6 @@ void AP_Mount_Viewpro::send_camera_settings(mavlink_channel_t chan) const
return;
}
const float NaN = nanf("0x4152");
// convert zoom times (e.g. 1x ~ 20x) to target zoom level (e.g. 0 to 100)
const float zoom_level = linear_interpolate(0, 100, _zoom_times, 1, AP_MOUNT_VIEWPRO_ZOOM_MAX);
@ -951,7 +949,7 @@ void AP_Mount_Viewpro::send_camera_settings(mavlink_channel_t chan) const
AP_HAL::millis(), // time_boot_ms
_recording ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
zoom_level, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaN); // focusLevel float, percentage from 0 to 100, NaN if unknown
NaNf); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
// get rangefinder distance. Returns true on success

11
libraries/AP_Mount/AP_Mount_Xacti.cpp
View File

@ -361,7 +361,6 @@ void AP_Mount_Xacti::send_camera_information(mavlink_channel_t chan) const
static const uint8_t vendor_name[32] = "Xacti";
static uint8_t model_name[32] = "CX-GB100";
const char cam_definition_uri[140] {};
const float NaN = nanf("0x4152");
// capability flags
const uint32_t flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO |
@ -375,9 +374,9 @@ void AP_Mount_Xacti::send_camera_information(mavlink_channel_t chan) const
vendor_name, // vendor_name uint8_t[32]
model_name, // model_name uint8_t[32]
_firmware_version.received ? _firmware_version.mav_ver : 0, // firmware version uint32_t
NaN, // focal_length float (mm)
NaN, // sensor_size_h float (mm)
NaN, // sensor_size_v float (mm)
NaNf, // focal_length float (mm)
NaNf, // sensor_size_h float (mm)
NaNf, // sensor_size_v float (mm)
0, // resolution_h uint16_t (pix)
0, // resolution_v uint16_t (pix)
0, // lens_id uint8_t
@ -390,15 +389,13 @@ void AP_Mount_Xacti::send_camera_information(mavlink_channel_t chan) const
// send camera settings message to GCS
void AP_Mount_Xacti::send_camera_settings(mavlink_channel_t chan) const
{
const float NaN = nanf("0x4152");
// send CAMERA_SETTINGS message
mavlink_msg_camera_settings_send(
chan,
AP_HAL::millis(), // time_boot_ms
_recording_video ? CAMERA_MODE_VIDEO : CAMERA_MODE_IMAGE, // camera mode (0:image, 1:video, 2:image survey)
0, // zoomLevel float, percentage from 0 to 100, NaN if unknown
NaN); // focusLevel float, percentage from 0 to 100, NaN if unknown
NaNf); // focusLevel float, percentage from 0 to 100, NaN if unknown
}
// get attitude as a quaternion. returns true on success