mirror of https://github.com/ArduPilot/ardupilot
118 lines
5.0 KiB
C++
118 lines
5.0 KiB
C++
#include "AP_Camera_SoloGimbal.h"
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#if AP_CAMERA_SOLOGIMBAL_ENABLED
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#include <GCS_MAVLink/GCS.h>
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// Toggle the shutter on the GoPro
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// This is so ArduPilot can toggle the shutter directly, either for mission/GCS commands, or when the
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// Solo's gimbal is installed on a vehicle other than a Solo. The usual GoPro controls thorugh the
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// Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
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// entry point to actually take a picture. returns true on success
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bool AP_Camera_SoloGimbal::trigger_pic()
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{
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if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
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gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available");
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return false;
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}
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const uint8_t gopro_shutter_start[4] = { 1, 0, 0, 0};
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const uint8_t gopro_shutter_stop[4] = { 0, 0, 0, 0};
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if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) {
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// Trigger shutter start to take a photo
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro Photo Trigger");
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
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} else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) {
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if (gopro_is_recording) {
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// GoPro is recording, so stop recording
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Stop");
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop);
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} else {
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// GoPro is not recording, so start recording
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro Recording Start");
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
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}
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} else {
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gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode");
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return false;
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}
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return true;
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}
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// Cycle the GoPro capture mode
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// This is so ArduPilot can cycle through the capture modes of the GoPro directly, probably with an RC Aux function.
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// This is primarily for Solo's gimbal being installed on a vehicle other than a Solo. The usual GoPro controls
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// through the Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
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// momentary switch to change camera between picture and video modes
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void AP_Camera_SoloGimbal::cam_mode_toggle()
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{
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uint8_t gopro_capture_mode_values[4] = { };
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if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
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gcs().send_text(MAV_SEVERITY_ERROR, "GoPro Not Available");
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return;
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}
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switch(gopro_capture_mode) {
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case GOPRO_CAPTURE_MODE_VIDEO:
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if (gopro_is_recording) {
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// GoPro is recording, cannot change modes
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro recording, can't change modes");
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} else {
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// Change to camera mode
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gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO;
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode photo");
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}
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break;
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case GOPRO_CAPTURE_MODE_PHOTO:
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default:
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// Change to video mode
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gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_VIDEO;
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mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
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gcs().send_text(MAV_SEVERITY_INFO, "GoPro changing to mode video");
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break;
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}
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}
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// handle incoming heartbeat from the Solo gimbal GoPro
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void AP_Camera_SoloGimbal::handle_message(mavlink_channel_t chan, const mavlink_message_t &msg)
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{
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mavlink_gopro_heartbeat_t report_msg;
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mavlink_msg_gopro_heartbeat_decode(&msg, &report_msg);
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gopro_is_recording = report_msg.flags & GOPRO_FLAG_RECORDING;
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heartbeat_channel = chan;
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switch((GOPRO_HEARTBEAT_STATUS)report_msg.status) {
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case GOPRO_HEARTBEAT_STATUS_DISCONNECTED:
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case GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE:
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case GOPRO_HEARTBEAT_STATUS_ERROR:
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case GOPRO_HEARTBEAT_STATUS_CONNECTED:
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gopro_status = (GOPRO_HEARTBEAT_STATUS)report_msg.status;
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break;
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case GOPRO_HEARTBEAT_STATUS_ENUM_END:
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break;
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}
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switch((GOPRO_CAPTURE_MODE)report_msg.capture_mode){
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case GOPRO_CAPTURE_MODE_VIDEO:
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case GOPRO_CAPTURE_MODE_PHOTO:
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case GOPRO_CAPTURE_MODE_BURST:
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case GOPRO_CAPTURE_MODE_TIME_LAPSE:
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case GOPRO_CAPTURE_MODE_MULTI_SHOT:
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case GOPRO_CAPTURE_MODE_PLAYBACK:
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case GOPRO_CAPTURE_MODE_SETUP:
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case GOPRO_CAPTURE_MODE_UNKNOWN:
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gopro_capture_mode = (GOPRO_CAPTURE_MODE)report_msg.capture_mode;
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break;
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case GOPRO_CAPTURE_MODE_ENUM_END:
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break;
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}
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}
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#endif // AP_CAMERA_SOLOGIMBAL_ENABLED
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