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AP_Camera: Add handler for CAMERA_CAPTURE_STATUS request

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This commit is contained in:
Nick Exton 2023-09-12 12:22:44 +10:00 committed by Randy Mackay
parent ba76d4e2f9
commit 477534b446
4 changed files with 39 additions and 0 deletions
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13
libraries/AP_Camera/AP_Camera.cpp
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@ -541,6 +541,19 @@ void AP_Camera::send_camera_fov_status(mavlink_channel_t chan)
}
#endif
// send camera capture status message to GCS
void AP_Camera::send_camera_capture_status(mavlink_channel_t chan)
{
WITH_SEMAPHORE(_rsem);
// call each instance
for (uint8_t instance = 0; instance < AP_CAMERA_MAX_INSTANCES; instance++) {
if (_backends[instance] != nullptr) {
_backends[instance]->send_camera_capture_status(chan);
}
}
}
/*
update; triggers by distance moved and camera trigger
*/

3
libraries/AP_Camera/AP_Camera.h
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@ -100,6 +100,9 @@ public:
void send_camera_fov_status(mavlink_channel_t chan);
#endif
// send camera capture status message to GCS
void send_camera_capture_status(mavlink_channel_t chan);
// configure camera
void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);
void configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);

20
libraries/AP_Camera/AP_Camera_Backend.cpp
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@ -286,6 +286,26 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
}
#endif
// send camera capture status message to GCS
void AP_Camera_Backend::send_camera_capture_status(mavlink_channel_t chan) const
{
const float NaN = nanf("0x4152");
// Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
const uint8_t image_status = (time_interval_settings.num_remaining > 0) ? 2 : 0;
// send CAMERA_CAPTURE_STATUS message
mavlink_msg_camera_capture_status_send(
chan,
AP_HAL::millis(),
image_status,
0, // current status of video capturing (0: idle, 1: capture in progress)
static_cast<float>(time_interval_settings.time_interval_ms) / 1000.0, // image capture interval (s)
0, // elapsed time since recording started (ms)
NaN, // available storage capacity (ms)
image_index); // total number of images captured
}
// setup a callback for a feedback pin. When on PX4 with the right FMU
// mode we can use the microsecond timer.
void AP_Camera_Backend::setup_feedback_callback()

3
libraries/AP_Camera/AP_Camera_Backend.h
View File

@ -115,6 +115,9 @@ public:
void send_camera_fov_status(mavlink_channel_t chan) const;
#endif
// send camera capture status message to GCS
virtual void send_camera_capture_status(mavlink_channel_t chan) const;
#if AP_CAMERA_SCRIPTING_ENABLED
// accessor to allow scripting backend to retrieve state
// returns true on success and cam_state is filled in