Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: SWITCH statement to table reference

This commit is contained in:
muramura 2023-09-16 03:06:35 +09:00 committed by Peter Barker
parent 9f2da4a763
commit f1e67ba747
1 changed files with 12 additions and 31 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

43
libraries/AP_Mount/AP_Mount_Siyi.cpp
View File

@ -916,39 +916,20 @@ bool AP_Mount_Siyi::set_lens(uint8_t lens)
}
// maps lens to siyi camera image type so that lens of 0, 1, 2 are more useful
CameraImageType cam_image_type = CameraImageType::MAIN_ZOOM_SUB_THERMAL;
switch (lens) {
case 0:
cam_image_type = CameraImageType::MAIN_ZOOM_SUB_THERMAL; // 3
break;
case 1:
cam_image_type = CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL; // 5
break;
case 2:
cam_image_type = CameraImageType::MAIN_THERMAL_SUB_ZOOM; // 7
break;
case 3:
cam_image_type = CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE; // 0
break;
case 4:
cam_image_type = CameraImageType::MAIN_PIP_WIDEANGLE_THERMAL_SUB_ZOOM; // 1
break;
case 5:
cam_image_type = CameraImageType::MAIN_PIP_ZOOM_WIDEANGLE_SUB_THERMAL; // 2
break;
case 6:
cam_image_type = CameraImageType::MAIN_ZOOM_SUB_WIDEANGLE; // 4
break;
case 7:
cam_image_type = CameraImageType::MAIN_WIDEANGLE_SUB_ZOOM; // 6
break;
case 8:
cam_image_type = CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE; // 8
break;
}
static CameraImageType cam_image_type_table[9] = {
CameraImageType::MAIN_ZOOM_SUB_THERMAL, // 3
CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL, // 5
CameraImageType::MAIN_THERMAL_SUB_ZOOM, // 7
CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE, // 0
CameraImageType::MAIN_PIP_WIDEANGLE_THERMAL_SUB_ZOOM, // 1
CameraImageType::MAIN_PIP_ZOOM_WIDEANGLE_SUB_THERMAL, // 2
CameraImageType::MAIN_ZOOM_SUB_WIDEANGLE, // 4
CameraImageType::MAIN_WIDEANGLE_SUB_ZOOM, // 6
CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE, // 8
};
// send desired image type to camera
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)cam_image_type);
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)cam_image_type_table[lens]);
}
// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type