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AP_Camera: use GCS_SEND_TEXT rather than gcs().send_text

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Co-authored-by: muramura <ma2maru@gmail.com>
This commit is contained in:
Peter Barker 2024-08-07 13:17:20 +10:00 committed by Andrew Tridgell
parent 4565eed5ad
commit ffb2a32144
2 changed files with 10 additions and 10 deletions
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2
libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
View File

@ -141,7 +141,7 @@ void AP_Camera_MAVLinkCamV2::handle_message(mavlink_channel_t chan, const mavlin
const uint8_t fw_ver_build = (_cam_info.firmware_version & 0xFF000000) >> 24; const uint8_t fw_ver_build = (_cam_info.firmware_version & 0xFF000000) >> 24;
// display camera info to user // display camera info to user
gcs().send_text(MAV_SEVERITY_INFO, "Camera: %.32s %.32s fw:%u.%u.%u.%u", GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Camera: %.32s %.32s fw:%u.%u.%u.%u",
_cam_info.vendor_name, _cam_info.vendor_name,
_cam_info.model_name, _cam_info.model_name,
(unsigned)fw_ver_major, (unsigned)fw_ver_major,

18
libraries/AP_Camera/AP_Camera_SoloGimbal.cpp
View File

@ -12,7 +12,7 @@
bool AP_Camera_SoloGimbal::trigger_pic() bool AP_Camera_SoloGimbal::trigger_pic()
{ {
if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) { if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Not Available");
return false; return false;
} }
@ -21,21 +21,21 @@ bool AP_Camera_SoloGimbal::trigger_pic()
if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) { if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) {
// Trigger shutter start to take a photo // Trigger shutter start to take a photo
gcs().send_text(MAV_SEVERITY_INFO, "GoPro Photo Trigger"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Photo Trigger");
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start); mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
} else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) { } else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) {
if (gopro_is_recording) { if (gopro_is_recording) {
// GoPro is recording, so stop recording // GoPro is recording, so stop recording
gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Stop"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Recording Stop");
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop); mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop);
} else { } else {
// GoPro is not recording, so start recording // GoPro is not recording, so start recording
gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Start"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Recording Start");
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start); mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
} }
} else { } else {
gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode");
return false; return false;
} }
@ -52,7 +52,7 @@ void AP_Camera_SoloGimbal::cam_mode_toggle()
uint8_t gopro_capture_mode_values[4] = { }; uint8_t gopro_capture_mode_values[4] = { };
if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) { if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available"); GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Not Available");
return; return;
} }
@ -60,12 +60,12 @@ void AP_Camera_SoloGimbal::cam_mode_toggle()
case GOPRO_CAPTURE_MODE_VIDEO: case GOPRO_CAPTURE_MODE_VIDEO:
if (gopro_is_recording) { if (gopro_is_recording) {
// GoPro is recording, cannot change modes // GoPro is recording, cannot change modes
gcs().send_text(MAV_SEVERITY_INFO, "GoPro recording, can't change modes"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro recording, can't change modes");
} else { } else {
// Change to camera mode // Change to camera mode
gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO; gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO;
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values); mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode photo"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro changing to mode photo");
} }
break; break;
@ -74,7 +74,7 @@ void AP_Camera_SoloGimbal::cam_mode_toggle()
// Change to video mode // Change to video mode
gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_VIDEO; gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_VIDEO;
mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values); mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode video"); GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro changing to mode video");
break; break;
} }
} }