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

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#if AP_CAMERA_SOLOGIMBAL_ENABLED

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#include <GCS_MAVLink/GCS.h>

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// Toggle the shutter on the GoPro

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// This is so ArduPilot can toggle the shutter directly, either for mission/GCS commands, or when the

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// Solo's gimbal is installed on a vehicle other than a Solo.  The usual GoPro controls through the 

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// Solo app and Solo controller do not use this, as it is done offboard on the companion computer.

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

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bool AP_Camera_SoloGimbal::trigger_pic()

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{

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    if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {

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        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Not Available");

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        return false;

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    }

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    const uint8_t gopro_shutter_start[4] = { 1, 0, 0, 0};

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    const uint8_t gopro_shutter_stop[4] = { 0, 0, 0, 0};

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    if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) {

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        // Trigger shutter start to take a photo

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        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Photo Trigger");

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        mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);

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    } else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) {

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        if (gopro_is_recording) {

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            // GoPro is recording, so stop recording

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            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Recording Stop");

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            mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop);

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        } else {

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            // GoPro is not recording, so start recording

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            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Recording Start");

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            mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);

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        }

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    } else {

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        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode");

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        return false;

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    }

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    return true;

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}

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// Cycle the GoPro capture mode

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// This is so ArduPilot can cycle through the capture modes of the GoPro directly, probably with an RC Aux function.

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// This is primarily for Solo's gimbal being installed on a vehicle other than a Solo. The usual GoPro controls 

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// through the Solo app and Solo controller do not use this, as it is done offboard on the companion computer.

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// momentary switch to change camera between picture and video modes

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void AP_Camera_SoloGimbal::cam_mode_toggle()

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{

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    uint8_t gopro_capture_mode_values[4] = { };

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    if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {

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        GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Not Available");

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        return;

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    }

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    switch(gopro_capture_mode) {

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        case GOPRO_CAPTURE_MODE_VIDEO:

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            if (gopro_is_recording) {

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                // GoPro is recording, cannot change modes

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                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro recording, can't change modes");

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            } else {

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                // Change to camera mode

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                gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO;

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                mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);

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                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro changing to mode photo");

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            }

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            break;

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        case GOPRO_CAPTURE_MODE_PHOTO:

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        default:

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            // Change to video mode

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            gopro_capture_mode_values[0] =  GOPRO_CAPTURE_MODE_VIDEO;

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            mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);

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            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro changing to mode video");

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            break;

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    }

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}

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// handle incoming heartbeat from the Solo gimbal GoPro

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void AP_Camera_SoloGimbal::handle_message(mavlink_channel_t chan, const mavlink_message_t &msg)

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{

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    mavlink_gopro_heartbeat_t report_msg;

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    mavlink_msg_gopro_heartbeat_decode(&msg, &report_msg);

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    gopro_is_recording = report_msg.flags & GOPRO_FLAG_RECORDING;

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    heartbeat_channel = chan;

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    switch((GOPRO_HEARTBEAT_STATUS)report_msg.status) {

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        case GOPRO_HEARTBEAT_STATUS_DISCONNECTED:

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        case GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE:

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        case GOPRO_HEARTBEAT_STATUS_ERROR:

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        case GOPRO_HEARTBEAT_STATUS_CONNECTED:

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            gopro_status = (GOPRO_HEARTBEAT_STATUS)report_msg.status;

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            break;

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        case GOPRO_HEARTBEAT_STATUS_ENUM_END:

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            break;

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    }

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    switch((GOPRO_CAPTURE_MODE)report_msg.capture_mode){

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        case GOPRO_CAPTURE_MODE_VIDEO:

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        case GOPRO_CAPTURE_MODE_PHOTO:

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        case GOPRO_CAPTURE_MODE_BURST:

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        case GOPRO_CAPTURE_MODE_TIME_LAPSE:

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        case GOPRO_CAPTURE_MODE_MULTI_SHOT:

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        case GOPRO_CAPTURE_MODE_PLAYBACK:

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        case GOPRO_CAPTURE_MODE_SETUP:

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        case GOPRO_CAPTURE_MODE_UNKNOWN:

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            gopro_capture_mode = (GOPRO_CAPTURE_MODE)report_msg.capture_mode;

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            break;

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        case GOPRO_CAPTURE_MODE_ENUM_END:

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            break;

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    }

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}

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#endif // AP_CAMERA_SOLOGIMBAL_ENABLED

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