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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_MAVLink.h
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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/*

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  Camera driver for cameras that implement the older MAVLink camera protocol

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 */

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#pragma once

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#include "AP_Camera_Backend.h"

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#if AP_CAMERA_MAVLINK_ENABLED

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class AP_Camera_MAVLink : public AP_Camera_Backend

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{

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public:

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    // Constructor

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    using AP_Camera_Backend::AP_Camera_Backend;

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    /* Do not allow copies */

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    CLASS_NO_COPY(AP_Camera_MAVLink);

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    // entry point to actually take a picture

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    bool trigger_pic() override;

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    // configure camera

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    void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time) override;

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    // handle camera control message

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    void control(float session, float zoom_pos, float zoom_step, float focus_lock, int32_t shooting_cmd, int32_t cmd_id) override;

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};

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#endif // AP_CAMERA_MAVLINK_ENABLED

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