mirror of https://github.com/ArduPilot/ardupilot
65 lines
2.2 KiB
C++
65 lines
2.2 KiB
C++
#include "AP_Camera_MAVLink.h"
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#if AP_CAMERA_MAVLINK_ENABLED
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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// entry point to actually take a picture. returns true on success
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bool AP_Camera_MAVLink::trigger_pic()
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{
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// tell all of our components to take a picture:
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mavlink_command_long_t cmd_msg {};
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cmd_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
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cmd_msg.param5 = 1;
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// forward to all components
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GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&cmd_msg, sizeof(cmd_msg));
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return true;
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}
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// configure camera
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void AP_Camera_MAVLink::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)
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{
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// convert to mavlink message and send to all components
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mavlink_command_long_t mav_cmd_long = {};
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// convert mission command to mavlink command_long
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mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONFIGURE;
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mav_cmd_long.param1 = shooting_mode;
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mav_cmd_long.param2 = shutter_speed;
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mav_cmd_long.param3 = aperture;
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mav_cmd_long.param4 = ISO;
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mav_cmd_long.param5 = float(exposure_type);
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mav_cmd_long.param6 = float(cmd_id);
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mav_cmd_long.param7 = engine_cutoff_time;
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// send to all components
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GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&mav_cmd_long, sizeof(mav_cmd_long));
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}
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// handle camera control message
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void AP_Camera_MAVLink::control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id)
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{
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// take picture and ignore other arguments
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if (shooting_cmd == 1) {
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take_picture();
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return;
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}
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// convert command to mavlink command long
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mavlink_command_long_t mav_cmd_long = {};
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mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONTROL;
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mav_cmd_long.param1 = session;
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mav_cmd_long.param2 = zoom_pos;
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mav_cmd_long.param3 = zoom_step;
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mav_cmd_long.param4 = focus_lock;
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mav_cmd_long.param5 = float(shooting_cmd);
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mav_cmd_long.param6 = float(cmd_id);
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// send to all components
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GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&mav_cmd_long, sizeof(mav_cmd_long));
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}
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#endif // AP_CAMERA_MAVLINK_ENABLED
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