mirror of https://github.com/ArduPilot/ardupilot
113 lines
3.4 KiB
C++
113 lines
3.4 KiB
C++
#include "AP_Camera_Mount.h"
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#if AP_CAMERA_MOUNT_ENABLED
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#include <AP_Mount/AP_Mount.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_Mount::trigger_pic()
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->take_picture(get_mount_instance());
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}
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return false;
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}
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// start/stop recording video. returns true on success
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// start_recording should be true to start recording, false to stop recording
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bool AP_Camera_Mount::record_video(bool start_recording)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->record_video(get_mount_instance(), start_recording);
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}
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return false;
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}
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// set zoom specified as a rate or percentage
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bool AP_Camera_Mount::set_zoom(ZoomType zoom_type, float zoom_value)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_zoom(get_mount_instance(), zoom_type, zoom_value);
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}
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return false;
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}
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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 AP_Camera_Mount::set_focus(FocusType focus_type, float focus_value)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_focus(get_mount_instance(), focus_type, focus_value);
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}
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return SetFocusResult::FAILED;
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}
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// set tracking to none, point or rectangle (see TrackingType enum)
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// if POINT only p1 is used, if RECTANGLE then p1 is top-left, p2 is bottom-right
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// p1,p2 are in range 0 to 1. 0 is left or top, 1 is right or bottom
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bool AP_Camera_Mount::set_tracking(TrackingType tracking_type, const Vector2f& p1, const Vector2f& p2)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_tracking(get_mount_instance(), tracking_type, p1, p2);
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}
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return false;
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}
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// set camera lens as a value from 0 to 5
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bool AP_Camera_Mount::set_lens(uint8_t lens)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_lens(get_mount_instance(), lens);
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}
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return false;
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}
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#if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
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// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
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bool AP_Camera_Mount::set_camera_source(AP_Camera::CameraSource primary_source, AP_Camera::CameraSource secondary_source)
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->set_camera_source(get_mount_instance(), (uint8_t)primary_source, (uint8_t)secondary_source);
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}
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return false;
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}
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#endif
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// send camera information message to GCS
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void AP_Camera_Mount::send_camera_information(mavlink_channel_t chan) const
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->send_camera_information(get_mount_instance(), chan);
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}
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}
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// send camera settings message to GCS
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void AP_Camera_Mount::send_camera_settings(mavlink_channel_t chan) const
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->send_camera_settings(get_mount_instance(), chan);
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}
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}
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// send camera capture status message to GCS
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void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
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{
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AP_Mount* mount = AP::mount();
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if (mount != nullptr) {
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return mount->send_camera_capture_status(get_mount_instance(), chan);
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}
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}
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#endif // AP_CAMERA_MOUNT_ENABLED
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