forked from Archive/PX4-Autopilot
mavlink: add onboard function for camera capture commands
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295f87f22c
commit
8fe3475b41
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@ -1653,6 +1653,8 @@ Mavlink::task_main(int argc, char *argv[])
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case 'm':
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if (strcmp(optarg, "custom") == 0) {
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_mode = MAVLINK_MODE_CUSTOM;
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} else if (strcmp(optarg, "camera") == 0) {
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_mode = MAVLINK_MODE_CAMERA;
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}
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break;
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@ -1696,6 +1698,10 @@ Mavlink::task_main(int argc, char *argv[])
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warnx("mode: CUSTOM");
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break;
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case MAVLINK_MODE_CAMERA:
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warnx("mode: CAMERA");
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break;
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default:
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warnx("ERROR: Unknown mode");
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break;
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@ -1765,6 +1771,13 @@ Mavlink::task_main(int argc, char *argv[])
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configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult);
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break;
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case MAVLINK_MODE_CAMERA:
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configure_stream("SYS_STATUS", 1.0f);
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configure_stream("ATTITUDE", 20.0f);
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configure_stream("GLOBAL_POSITION_INT", 20.0f);
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configure_stream("CAMERA_CAPTURE", 1.0f);
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break;
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default:
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break;
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}
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@ -146,7 +146,8 @@ public:
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enum MAVLINK_MODE {
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MAVLINK_MODE_NORMAL = 0,
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MAVLINK_MODE_CUSTOM
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MAVLINK_MODE_CUSTOM,
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MAVLINK_MODE_CAMERA
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};
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void set_mode(enum MAVLINK_MODE);
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@ -230,7 +230,6 @@ protected:
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mavlink_base_mode,
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mavlink_custom_mode,
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mavlink_state);
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}
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};
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@ -1127,6 +1126,48 @@ protected:
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}
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};
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class MavlinkStreamCameraCapture : public MavlinkStream
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{
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public:
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const char *get_name()
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{
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return "CAMERA_CAPTURE";
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}
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MavlinkStream *new_instance()
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{
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return new MavlinkStreamCameraCapture();
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}
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private:
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MavlinkOrbSubscription *status_sub;
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struct vehicle_status_s *status;
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protected:
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void subscribe(Mavlink *mavlink)
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{
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status_sub = mavlink->add_orb_subscription(ORB_ID(vehicle_status));
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status = (struct vehicle_status_s *)status_sub->get_data();
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}
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void send(const hrt_abstime t)
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{
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(void)status_sub->update(t);
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if (status->arming_state == ARMING_STATE_ARMED
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|| status->arming_state == ARMING_STATE_ARMED_ERROR) {
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/* send camera capture on */
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mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
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} else {
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/* send camera capture off */
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mavlink_msg_command_long_send(_channel, 42, 30, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
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}
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}
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};
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MavlinkStream *streams_list[] = {
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new MavlinkStreamHeartbeat(),
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@ -1151,6 +1192,7 @@ MavlinkStream *streams_list[] = {
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new MavlinkStreamRCChannelsRaw(),
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new MavlinkStreamManualControl(),
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new MavlinkStreamOpticalFlow(),
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new MavlinkStreamCameraCapture(),
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nullptr
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};
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