mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.4 KiB
C++
89 lines
2.4 KiB
C++
#include "AP_Camera_Backend.h"
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#include <AP_Mount/AP_Mount.h>
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#if AP_CAMERA_ENABLED
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#include <AP_Logger/AP_Logger.h>
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#include <AP_GPS/AP_GPS.h>
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// Write a Camera packet. Also writes a Mount packet if available
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void AP_Camera_Backend::Write_CameraInfo(enum LogMessages msg, uint64_t timestamp_us)
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{
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// exit immediately if no logger
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AP_Logger *logger = AP_Logger::get_singleton();
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if (logger == nullptr) {
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return;
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}
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// exit immediately if should not log camera messages
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if (!logger->should_log(_frontend.get_log_camera_bit())) {
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return;
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}
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const AP_AHRS &ahrs = AP::ahrs();
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Location current_loc;
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if (!ahrs.get_location(current_loc)) {
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// completely ignore this failure! AHRS will provide its best guess.
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}
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int32_t altitude, altitude_rel, altitude_gps;
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if (current_loc.relative_alt) {
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altitude = current_loc.alt+ahrs.get_home().alt;
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altitude_rel = current_loc.alt;
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} else {
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altitude = current_loc.alt;
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altitude_rel = current_loc.alt - ahrs.get_home().alt;
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}
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const AP_GPS &gps = AP::gps();
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if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
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altitude_gps = gps.location().alt;
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} else {
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altitude_gps = 0;
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}
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// if timestamp is zero set to current system time
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if (timestamp_us == 0) {
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timestamp_us = AP_HAL::micros64();
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}
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const struct log_Camera pkt{
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LOG_PACKET_HEADER_INIT(static_cast<uint8_t>(msg)),
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time_us : timestamp_us,
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instance : _instance,
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image_number: image_index,
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gps_time : gps.time_week_ms(),
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gps_week : gps.time_week(),
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latitude : current_loc.lat,
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longitude : current_loc.lng,
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altitude : altitude,
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altitude_rel: altitude_rel,
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altitude_gps: altitude_gps,
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roll : (int16_t)ahrs.roll_sensor,
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pitch : (int16_t)ahrs.pitch_sensor,
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yaw : (uint16_t)ahrs.yaw_sensor
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};
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AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
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#if HAL_MOUNT_ENABLED
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auto *mount = AP_Mount::get_singleton();
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if (mount!= nullptr) {
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mount->write_log(get_mount_instance(), timestamp_us);
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}
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#endif
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}
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// Write a Camera packet
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void AP_Camera_Backend::Write_Camera(uint64_t timestamp_us)
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{
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Write_CameraInfo(LOG_CAMERA_MSG, timestamp_us);
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}
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// Write a Trigger packet
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void AP_Camera_Backend::Write_Trigger()
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{
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Write_CameraInfo(LOG_TRIGGER_MSG, 0);
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}
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#endif
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