aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Camera: support mav-cmd-set-camera-zoom from GCS

Browse Source 
also support focus and image capture commands
This commit is contained in:
Randy Mackay 2023-03-07 16:10:56 +09:00
parent 267f459c7e
commit 227daf31f7
1 changed files with 48 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

48
libraries/AP_Camera/AP_Camera.cpp
View File

@ -217,6 +217,54 @@ MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
take_picture();
}
return MAV_RESULT_ACCEPTED;
case MAV_CMD_SET_CAMERA_ZOOM:
if (is_equal(packet.param1, (float)ZOOM_TYPE_CONTINUOUS)) {
set_zoom_step((int8_t)packet.param2);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_SET_CAMERA_FOCUS:
// accept any of the auto focus types
if (is_equal(packet.param1, (float)FOCUS_TYPE_AUTO) ||
is_equal(packet.param1, (float)FOCUS_TYPE_AUTO_SINGLE) ||
is_equal(packet.param1, (float)FOCUS_TYPE_AUTO_CONTINUOUS)) {
set_auto_focus();
return MAV_RESULT_ACCEPTED;
}
// accept step or continuous manual focus
if (is_equal(packet.param1, (float)FOCUS_TYPE_CONTINUOUS)) {
set_manual_focus_step((int8_t)packet.param2);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_IMAGE_START_CAPTURE:
if (!is_zero(packet.param2) || !is_equal(packet.param3, 1.0f) || !is_zero(packet.param4)) {
// time interval is not supported
// multiple image capture is not supported
// capture sequence number is not supported
return MAV_RESULT_UNSUPPORTED;
}
take_picture();
return MAV_RESULT_ACCEPTED;
case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE:
{
bool success = false;
const bool start_recording = (packet.command == MAV_CMD_VIDEO_START_CAPTURE);
const uint8_t stream_id = packet.param1; // Stream ID
if (stream_id == 0) {
// stream id of 0 interpreted as primary camera
success = record_video(start_recording);
} else {
// convert stream id to instance id
success = record_video(stream_id - 1, start_recording);
}
if (success) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
}
default:
return MAV_RESULT_UNSUPPORTED;
}