AP_Mount: add HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED

ArduPilot · Mar 22, 2024 · 088dc98 · 088dc98
1 parent 49577b8
commit 088dc98
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Showing 4 changed files with 11 additions and 0 deletions.
diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
@@ -833,6 +833,7 @@ bool AP_Mount::set_lens(uint8_t instance, uint8_t lens)
     return backend->set_lens(lens);
 }
 
+#if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
 // set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
 // primary and secondary sources use the AP_Camera::CameraSource enum cast to uint8_t
 bool AP_Mount::set_camera_source(uint8_t instance, uint8_t primary_source, uint8_t secondary_source)
@@ -843,6 +844,7 @@ bool AP_Mount::set_camera_source(uint8_t instance, uint8_t primary_source, uint8
     }
     return backend->set_camera_source(primary_source, secondary_source);
 }
+#endif
 
 // send camera information message to GCS
 void AP_Mount::send_camera_information(uint8_t instance, mavlink_channel_t chan) const

diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
@@ -250,9 +250,11 @@ class AP_Mount
     // set camera lens as a value from 0 to 5
     bool set_lens(uint8_t instance, uint8_t lens);
 
+#if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
     // set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
     // primary and secondary sources use the AP_Camera::CameraSource enum cast to uint8_t
     bool set_camera_source(uint8_t instance, uint8_t primary_source, uint8_t secondary_source);
+#endif
 
     // send camera information message to GCS
     void send_camera_information(uint8_t instance, mavlink_channel_t chan) const;

diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -182,9 +182,11 @@ class AP_Mount_Backend
     // set camera lens as a value from 0 to 5
     virtual bool set_lens(uint8_t lens) { return false; }
 
+#if HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
     // set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
     // primary and secondary sources use the AP_Camera::CameraSource enum cast to uint8_t
     virtual bool set_camera_source(uint8_t primary_source, uint8_t secondary_source) { return false; }
+#endif
 
     // send camera information message to GCS
     virtual void send_camera_information(mavlink_channel_t chan) const {}

diff --git a/libraries/AP_Mount/AP_Mount_config.h b/libraries/AP_Mount/AP_Mount_config.h
@@ -53,3 +53,8 @@
 #ifndef AP_MOUNT_POI_TO_LATLONALT_ENABLED
 #define AP_MOUNT_POI_TO_LATLONALT_ENABLED HAL_MOUNT_ENABLED && AP_TERRAIN_AVAILABLE && BOARD_FLASH_SIZE > 1024
 #endif
+
+// set camera source is supported on gimbals that may have more than one lens
+#ifndef HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED
+#define HAL_MOUNT_SET_CAMERA_SOURCE_ENABLED HAL_MOUNT_SIYI_ENABLED || HAL_MOUNT_XACTI_ENABLED || HAL_MOUNT_VIEWPRO_ENABLED
+#endif