mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.8 KiB
C++
78 lines
2.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Camera driver for cameras that implement the newer MAVLink camera v2 protocol
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see https://mavlink.io/en/services/camera.html
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*/
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#pragma once
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#include "AP_Camera_Backend.h"
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#if AP_CAMERA_MAVLINKCAMV2_ENABLED
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class AP_Camera_MAVLinkCamV2 : public AP_Camera_Backend
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{
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public:
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// Constructor
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using AP_Camera_Backend::AP_Camera_Backend;
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/* Do not allow copies */
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CLASS_NO_COPY(AP_Camera_MAVLinkCamV2);
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// update - should be called at 50hz
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void update() override;
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// entry point to actually take a picture
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bool trigger_pic() override;
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// start or stop video recording. returns true on success
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// set start_recording = true to start record, false to stop recording
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bool record_video(bool start_recording) override;
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// set zoom specified as a rate or percentage
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bool set_zoom(ZoomType zoom_type, float zoom_value) override;
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// set focus specified as rate, percentage or auto
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// focus in = -1, focus hold = 0, focus out = 1
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SetFocusResult set_focus(FocusType focus_type, float focus_value) override;
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// handle MAVLink messages from the camera
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void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) override;
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// send camera information message to GCS
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void send_camera_information(mavlink_channel_t chan) const override;
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private:
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// search for camera in GCS_MAVLink routing table
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void find_camera();
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// request CAMERA_INFORMATION (holds vendor and model name)
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void request_camera_information() const;
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// internal members
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bool _initialised; // true once the camera has provided a CAMERA_INFORMATION
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bool _got_camera_info; // true once camera has provided CAMERA_INFORMATION
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mavlink_camera_information_t _cam_info {}; // latest camera information received from camera
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uint32_t _last_caminfo_req_ms; // system time that CAMERA_INFORMATION was last requested (used to throttle requests)
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class GCS_MAVLINK *_link; // link we have found the camera on. nullptr if not seen yet
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uint8_t _sysid; // sysid of camera
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uint8_t _compid; // component id of gimbal
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};
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#endif // AP_CAMERA_MAVLINKCAMV2_ENABLED
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