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Plane: add support for DO_SET_ROI outside of missions

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Randy Mackay 2014-07-04 15:54:31 +09:00
parent 9064d7ebca
commit 042c65c501
1 changed files with 20 additions and 0 deletions
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20
ArduPlane/GCS_Mavlink.pde
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@ -1014,6 +1014,26 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
break; break;
#if MOUNT == ENABLED
// Sets the region of interest (ROI) for the camera
case MAV_CMD_DO_SET_ROI:
Location roi_loc;
roi_loc.lat = (int32_t)(packet.param5 * 1.0e7f);
roi_loc.lng = (int32_t)(packet.param6 * 1.0e7f);
roi_loc.alt = (int32_t)(packet.param7 * 100.0f);
if (roi_loc.lat == 0 && roi_loc.lng == 0 && roi_loc.alt == 0) {
// switch off the camera tracking if enabled
if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
camera_mount.set_mode_to_default();
}
} else {
// send the command to the camera mount
camera_mount.set_roi_cmd(&roi_loc);
}
result = MAV_RESULT_ACCEPTED;
break;
#endif
case MAV_CMD_MISSION_START: case MAV_CMD_MISSION_START:
set_mode(AUTO); set_mode(AUTO);
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;