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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_MAVLink.cpp
Views: 1798
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#include "AP_Camera_MAVLink.h"

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#if AP_CAMERA_MAVLINK_ENABLED

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#include <GCS_MAVLink/GCS.h>

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extern const AP_HAL::HAL& hal;

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// entry point to actually take a picture.  returns true on success

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bool AP_Camera_MAVLink::trigger_pic()

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{

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    // tell all of our components to take a picture:

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    mavlink_command_long_t cmd_msg {};

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    cmd_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;

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    cmd_msg.param5 = 1;

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    // forward to all components

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    GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&cmd_msg, sizeof(cmd_msg));

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    return true;

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}

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// configure camera

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void AP_Camera_MAVLink::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)

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{

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    // convert to mavlink message and send to all components

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    mavlink_command_long_t mav_cmd_long = {};

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    // convert mission command to mavlink command_long

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    mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONFIGURE;

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    mav_cmd_long.param1 = shooting_mode;

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    mav_cmd_long.param2 = shutter_speed;

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    mav_cmd_long.param3 = aperture;

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    mav_cmd_long.param4 = ISO;

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    mav_cmd_long.param5 = float(exposure_type);

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    mav_cmd_long.param6 = float(cmd_id);

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    mav_cmd_long.param7 = engine_cutoff_time;

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    // send to all components

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    GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&mav_cmd_long, sizeof(mav_cmd_long));

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}

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// handle camera control message

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void AP_Camera_MAVLink::control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id)

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{

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    // take picture and ignore other arguments

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    if (shooting_cmd == 1) {

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        take_picture();

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        return;

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    }

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    // convert command to mavlink command long

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    mavlink_command_long_t mav_cmd_long = {};

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    mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONTROL;

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    mav_cmd_long.param1 = session;

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    mav_cmd_long.param2 = zoom_pos;

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    mav_cmd_long.param3 = zoom_step;

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    mav_cmd_long.param4 = focus_lock;

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    mav_cmd_long.param5 = float(shooting_cmd);

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    mav_cmd_long.param6 = float(cmd_id);

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    // send to all components

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    GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&mav_cmd_long, sizeof(mav_cmd_long));

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}

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#endif // AP_CAMERA_MAVLINK_ENABLED

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