fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator/mavlink: photos and videos at waypoints

Browse Source 
This adds the capability to forward the commands
- MAV_CMD_VIDEO_START_CAPTURE
- MAV_CMD_VIDEO_STOP_CAPTURE
- MAV_CMD_IMAGE_START_CAPTURE
- MAV_CMD_IMAGE_STOP_CAPTURE
at waypoints which will then be sent over mavlink to component id
100 aka MAV_COMP_ID_CAMERA.
This commit is contained in:
Julian Oes 2016-10-11 17:16:29 +01:00 committed by Lorenz Meier
parent eb51184bbd
commit 9842e49dc6
4 changed files with 40 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/mavlink/mavlink_mission.cpp
View File

@ -981,6 +981,10 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_DO_CHANGE_SPEED:
case MAV_CMD_DO_SET_SERVO:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_IMAGE_START_CAPTURE:
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE:
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
@ -1040,6 +1044,10 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_DO_CHANGE_SPEED:
case NAV_CMD_DO_SET_SERVO:
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:

26
src/modules/navigator/mission_block.cpp
View File

@ -104,6 +104,10 @@ MissionBlock::is_mission_item_reached()
return false;
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
@ -232,7 +236,7 @@ MissionBlock::is_mission_item_reached()
// set required yaw from bearing to the next mission item
if (_mission_item.force_heading) {
struct position_setpoint_s next_sp = _navigator->get_position_setpoint_triplet()->next;
if (next_sp.valid) {
_mission_item.yaw = get_bearing_to_next_waypoint(_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
@ -352,7 +356,21 @@ MissionBlock::mission_item_to_vehicle_command(const struct mission_item_s *item,
cmd->command = item->nav_cmd;
cmd->target_system = _navigator->get_vstatus()->system_id;
cmd->target_component = _navigator->get_vstatus()->component_id;
// The camera commands are not processed on the autopilot but will be
// sent to the mavlink links to other components.
switch (item->nav_cmd) {
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
cmd->target_component = 100; // MAV_COMP_ID_CAMERA
break;
default:
cmd->target_component = _navigator->get_vstatus()->component_id;
break;
}
cmd->source_system = _navigator->get_vstatus()->system_id;
cmd->source_component = _navigator->get_vstatus()->component_id;
cmd->confirmation = false;
@ -404,6 +422,10 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_IMAGE_START_CAPTURE ||
item->nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE ||
item->nav_cmd == NAV_CMD_VIDEO_START_CAPTURE ||
item->nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
item->nav_cmd == NAV_CMD_DO_SET_ROI ||

4
src/modules/navigator/mission_feasibility_checker.cpp
View File

@ -248,6 +248,10 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s
missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&

4
src/modules/navigator/navigation.h
View File

@ -70,6 +70,10 @@ enum NAV_CMD {
NAV_CMD_DO_MOUNT_CONFIGURE=204,
NAV_CMD_DO_MOUNT_CONTROL=205,
NAV_CMD_DO_SET_CAM_TRIGG_DIST=206,
NAV_CMD_IMAGE_START_CAPTURE=2000,
NAV_CMD_IMAGE_STOP_CAPTURE=2001,
NAV_CMD_VIDEO_START_CAPTURE=2500,
NAV_CMD_VIDEO_STOP_CAPTURE=2501,
NAV_CMD_DO_VTOL_TRANSITION=3000,
NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
};