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manual_control: enable sending camera commands

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This commit is contained in:
Julian Oes
2021-10-05 14:31:51 +02:00
committed by Daniel Agar
parent 1754e25920
commit 9fe7a40673
5 changed files with 87 additions and 2 deletions
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src/modules/manual_control/ManualControl.cpp
+64
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@@ -33,6 +33,7 @@
#include "ManualControl.hpp"
#include <uORB/topics/commander_state.h>
#include <uORB/topics/vehicle_command.h>
ManualControl::ManualControl() :
ModuleParams(nullptr),
@@ -200,6 +201,20 @@ void ManualControl::Run()
}
}
if (switches.photo_switch != _previous_switches.photo_switch) {
if (switches.photo_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_camera_mode_command(CameraMode::Image);
send_photo_command();
}
}
if (switches.video_switch != _previous_switches.video_switch) {
if (switches.video_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_camera_mode_command(CameraMode::Video);
send_video_command();
}
}
} else {
// Send an initial request to switch to the mode requested by RC
evaluateModeSlot(switches.mode_slot);
@@ -341,6 +356,55 @@ void ManualControl::publishLandingGear(int8_t action)
_landing_gear_pub.publish(landing_gear);
}
void ManualControl::send_camera_mode_command(CameraMode camera_mode)
{
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_SET_CAMERA_MODE;
command.param2 = static_cast<float>(camera_mode);
command.target_system = _param_mav_sys_id.get();
command.target_component = 100; // any camera
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
command_pub.publish(command);
}
void ManualControl::send_photo_command()
{
vehicle_command_s command{};
command.command = vehicle_command_s::VEHICLE_CMD_IMAGE_START_CAPTURE;
command.param3 = 1; // one picture
command.param4 = _image_sequence++;
command.target_system = _param_mav_sys_id.get();
command.target_component = 100; // any camera
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
command_pub.publish(command);
}
void ManualControl::send_video_command()
{
vehicle_command_s command{};
if (_video_recording) {
command.command = vehicle_command_s::VEHICLE_CMD_VIDEO_STOP_CAPTURE;
command.param2 = 1; // status at 1 Hz
} else {
command.command = vehicle_command_s::VEHICLE_CMD_VIDEO_START_CAPTURE;
}
command.target_system = _param_mav_sys_id.get();
command.target_component = 100; // any camera
uORB::Publication<vehicle_command_s> command_pub{ORB_ID(vehicle_command)};
command.timestamp = hrt_absolute_time();
command_pub.publish(command);
_video_recording = !_video_recording;
}
int ManualControl::task_spawn(int argc, char *argv[])
{
ManualControl *instance = new ManualControl();