AP_Camera: add MAV_CMD_IMAGE_STOP_CAPTURE support

Co-authored-by: Zachary Zalass <zachzalass@gmail.com>

libraries/AP_Camera/AP_Camera.cpp

@@ -127,6 +127,31 @@ bool AP_Camera::take_multiple_pictures(uint8_t instance, uint32_t time_interval_
     return true;
 }
 
+// stop capturing multiple image sequence
+void AP_Camera::stop_capture()
+{
+    WITH_SEMAPHORE(_rsem);
+
+    // call for each instance
+    for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
+        if (_backends[i] != nullptr) {
+            _backends[i]->stop_capture();
+        }
+    }
+}
+
+bool AP_Camera::stop_capture(uint8_t instance)
+{
+    WITH_SEMAPHORE(_rsem);
+
+    auto *backend = get_instance(instance);
+    if (backend == nullptr) {
+        return false;
+    }
+    backend->stop_capture();
+    return true;
+}
+
 // start/stop recording video
 // start_recording should be true to start recording, false to stop recording
 bool AP_Camera::record_video(bool start_recording)
@@ -311,6 +336,16 @@ MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
             }
         }
         return MAV_RESULT_UNSUPPORTED;
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
+        if (is_zero(packet.param1)) {
+            // stop capture for every backend
+            stop_capture();
+            return MAV_RESULT_ACCEPTED;
+        }
+        if (stop_capture(packet.param1)) {
+            return MAV_RESULT_ACCEPTED;
+        }
+        return MAV_RESULT_UNSUPPORTED;
     case MAV_CMD_CAMERA_TRACK_POINT:
         if (set_tracking(TrackingType::TRK_POINT, Vector2f{packet.param1, packet.param2}, Vector2f{})) {
             return MAV_RESULT_ACCEPTED;

libraries/AP_Camera/AP_Camera.h

@@ -120,6 +120,10 @@ public:
     void take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num);
     bool take_multiple_pictures(uint8_t instance, uint32_t time_interval_ms, int16_t total_num);
 
+    // stop capturing multiple image sequence
+    void stop_capture();
+    bool stop_capture(uint8_t instance);
+
     // start/stop recording video
     // start_recording should be true to start recording, false to stop recording
     bool record_video(bool start_recording);

libraries/AP_Camera/AP_Camera_Backend.cpp

@@ -154,6 +154,12 @@ void AP_Camera_Backend::take_multiple_pictures(uint32_t time_interval_ms, int16_
     time_interval_settings = {time_interval_ms, total_num};
 }
 
+// stop capturing multiple image sequence
+void AP_Camera_Backend::stop_capture()
+{
+    time_interval_settings = {0, 0};
+}
+
 // handle camera control
 void AP_Camera_Backend::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)
 {

libraries/AP_Camera/AP_Camera_Backend.h

@@ -60,6 +60,9 @@ public:
     // total_num is number of pictures to be taken, -1 means capture forever
     void take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num);
 
+    // stop capturing multiple image sequence
+    void stop_capture();
+
     // entry point to actually take a picture.  returns true on success
     virtual bool trigger_pic() = 0;