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AP_Mission: handle common camera commands

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Peter Barker 2018-10-23 18:03:50 +11:00 committed by Peter Barker
parent 5a8a3963d4
commit b1b5a7868d
3 changed files with 54 additions and 0 deletions
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9
libraries/AP_Mission/AP_Mission.cpp
View File

@ -268,6 +268,10 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
case MAV_CMD_DO_SET_RELAY: case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
return true; return true;
default: default:
return _cmd_verify_fn(cmd); return _cmd_verify_fn(cmd);
@ -284,6 +288,11 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
case MAV_CMD_DO_REPEAT_SERVO: case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY: case MAV_CMD_DO_REPEAT_RELAY:
return start_command_do_servorelayevents(cmd); return start_command_do_servorelayevents(cmd);
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
return start_command_camera(cmd);
default: default:
return _cmd_start_fn(cmd); return _cmd_start_fn(cmd);
} }

1
libraries/AP_Mission/AP_Mission.h
View File

@ -582,6 +582,7 @@ private:
// mission items common to all vehicles: // mission items common to all vehicles:
bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd); bool start_command_do_gripper(const AP_Mission::Mission_Command& cmd);
bool start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd); bool start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd);
bool start_command_camera(const AP_Mission::Mission_Command& cmd);
}; };
namespace AP { namespace AP {

44
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -66,3 +66,47 @@ bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Com
return true; return true;
} }
bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return true;
}
switch (cmd.id) {
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break;
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
camera->configure(
cmd.content.digicam_configure.shooting_mode,
cmd.content.digicam_configure.shutter_speed,
cmd.content.digicam_configure.aperture,
cmd.content.digicam_configure.ISO,
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
break;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
camera->control(
cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step,
cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id);
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera->set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
default:
return true;
}
return true;
}