AP_Mount: add camera controls

libraries/AP_Mount/AP_Mount.cpp

@@ -425,6 +425,64 @@ void AP_Mount::set_roi_target(uint8_t instance, const Location &target_loc)
     }
 }
 
+//
+// camera controls for gimbals that include a camera
+//
+
+// take a picture.  returns true on success
+bool AP_Mount::take_picture(uint8_t instance)
+{
+    // call instance's take_picture
+    if (!check_instance(instance)) {
+        return false;
+    }
+    return _backends[instance]->take_picture();
+}
+
+// start or stop video recording.  returns true on success
+// set start_recording = true to start record, false to stop recording
+bool AP_Mount::record_video(uint8_t instance, bool start_recording)
+{
+    // call instance's record_video
+    if (!check_instance(instance)) {
+        return false;
+    }
+    return _backends[instance]->record_video(start_recording);
+}
+
+// set camera zoom step.  returns true on success
+// zoom out = -1, hold = 0, zoom in = 1
+bool AP_Mount::set_zoom_step(uint8_t instance, int8_t zoom_step)
+{
+    // call instance's set_zoom_step
+    if (!check_instance(instance)) {
+        return false;
+    }
+    return _backends[instance]->set_zoom_step(zoom_step);
+}
+
+// set focus in, out or hold.  returns true on success
+// focus in = -1, focus hold = 0, focus out = 1
+bool AP_Mount::set_manual_focus_step(uint8_t instance, int8_t focus_step)
+{
+    // call instance's set_manual_focus_step
+    if (!check_instance(instance)) {
+        return false;
+    }
+    return _backends[instance]->set_manual_focus_step(focus_step);
+}
+
+// auto focus.  returns true on success
+bool AP_Mount::set_auto_focus(uint8_t instance)
+{
+    // call instance's set_auto_focus
+    if (!check_instance(instance)) {
+        return false;
+    }
+    return _backends[instance]->set_auto_focus();
+}
+
+
 bool AP_Mount::check_primary() const
 {
     return check_instance(_primary);

libraries/AP_Mount/AP_Mount.h

@@ -158,6 +158,28 @@ public:
     // any failure_msg returned will not include a prefix
     bool pre_arm_checks(char *failure_msg, uint8_t failure_msg_len);
 
+    //
+    // camera controls for gimbals that include a camera
+    //
+
+    // take a picture
+    bool take_picture(uint8_t instance);
+
+    // start or stop video recording
+    // set start_recording = true to start record, false to stop recording
+    bool record_video(uint8_t instance, bool start_recording);
+
+    // set camera zoom step
+    // zoom out = -1, hold = 0, zoom in = 1
+    bool set_zoom_step(uint8_t instance, int8_t zoom_step);
+
+    // set focus in, out or hold
+    // focus in = -1, focus hold = 0, focus out = 1
+    bool set_manual_focus_step(uint8_t instance, int8_t focus_step);
+
+    // auto focus
+    bool set_auto_focus(uint8_t instance);
+
     // parameter var table
     static const struct AP_Param::GroupInfo        var_info[];
 

libraries/AP_Mount/AP_Mount_Backend.h

@@ -100,6 +100,28 @@ public:
     // handle GIMBAL_DEVICE_ATTITUDE_STATUS message
     virtual void handle_gimbal_device_attitude_status(const mavlink_message_t &msg) {}
 
+    //
+    // camera controls for gimbals that include a camera
+    //
+
+    // take a picture.  returns true on success
+    virtual bool take_picture() { return false; }
+
+    // start or stop video recording.  returns true on success
+    // set start_recording = true to start record, false to stop recording
+    virtual bool record_video(bool start_recording) { return false; }
+
+    // set camera zoom step.  returns true on success
+    // zoom out = -1, hold = 0, zoom in = 1
+    virtual bool set_zoom_step(int8_t zoom_step) { return false; }
+
+    // set focus in, out or hold.  returns true on success
+    // focus in = -1, focus hold = 0, focus out = 1
+    virtual bool set_manual_focus_step(int8_t focus_step) { return false; }
+
+    // auto focus.  returns true on success
+    virtual bool set_auto_focus() { return false; }
+
 protected:
 
     enum class MountTargetType {