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Use target camera in image capture start/stop messages (#23115)

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* Use target camera in image capture start/stop messages

* Add support for MAV_CMD_SET_CAMERA_SOURCE

* Add target ID for NAV_CMD_SET_CAMERA_MODE

* Run make format
This commit is contained in:
Hamish Willee
2024-10-09 21:10:08 +13:00
committed by GitHub
parent 66b9e60a49
commit da8827883f
7 changed files with 55 additions and 5 deletions
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src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
+2
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@@ -286,6 +286,7 @@ bool FeasibilityChecker::checkMissionItemValidity(mission_item_s &mission_item,
mission_item.nav_cmd != NAV_CMD_OBLIQUE_SURVEY &&
mission_item.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_SOURCE &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS &&
mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
@@ -371,6 +372,7 @@ bool FeasibilityChecker::checkTakeoff(mission_item_s &mission_item)
mission_item.nav_cmd != NAV_CMD_OBLIQUE_SURVEY &&
mission_item.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_SOURCE &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
mission_item.nav_cmd != NAV_CMD_SET_CAMERA_FOCUS &&
mission_item.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
src/modules/navigator/mission_block.cpp
+1
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@@ -91,6 +91,7 @@ MissionBlock::is_mission_item_reached_or_completed()
case NAV_CMD_OBLIQUE_SURVEY:
case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
case NAV_CMD_SET_CAMERA_MODE:
case NAV_CMD_SET_CAMERA_SOURCE:
case NAV_CMD_SET_CAMERA_ZOOM:
case NAV_CMD_SET_CAMERA_FOCUS:
case NAV_CMD_DO_CHANGE_SPEED:
src/modules/navigator/navigation.h
+1
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@@ -89,6 +89,7 @@ enum NAV_CMD {
NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
NAV_CMD_OBLIQUE_SURVEY = 260,
NAV_CMD_SET_CAMERA_MODE = 530,
NAV_CMD_SET_CAMERA_SOURCE = 534,
NAV_CMD_SET_CAMERA_ZOOM = 531,
NAV_CMD_SET_CAMERA_FOCUS = 532,
NAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1000,
src/modules/navigator/navigator_main.cpp
+46 -2
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@@ -1411,9 +1411,13 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
vcmd->confirmation = false;
vcmd->from_external = false;
int target_camera_component_id;
// The camera commands are not processed on the autopilot but will be
// sent to the mavlink links to other components.
switch (vcmd->command) {
case NAV_CMD_IMAGE_START_CAPTURE:
if (static_cast<int>(vcmd->param3) == 1) {
@@ -1433,12 +1437,52 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
_is_capturing_images = true;
}
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_IMAGE_STOP_CAPTURE:
_is_capturing_images = false;
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_SET_CAMERA_MODE:
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_SET_CAMERA_SOURCE:
target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
if (target_camera_component_id > 0 && target_camera_component_id < 256) {
vcmd->target_component = target_camera_component_id;
} else {
vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
}
break;
case NAV_CMD_VIDEO_START_CAPTURE: