Merge branch 'master' into ardupilot_tutorial

ArduPilot · Nov 9, 2023 · 23d7c8f · 23d7c8f
2 parents 5f342e2 + 3ba63d3
commit 23d7c8f
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Showing 13 changed files with 80 additions and 4 deletions.
diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
@@ -541,6 +541,19 @@ void AP_Camera::send_camera_fov_status(mavlink_channel_t chan)
 }
 #endif
 
+// send camera capture status message to GCS
+void AP_Camera::send_camera_capture_status(mavlink_channel_t chan)
+{
+    WITH_SEMAPHORE(_rsem);
+
+    // call each instance
+    for (uint8_t instance = 0; instance < AP_CAMERA_MAX_INSTANCES; instance++) {
+        if (_backends[instance] != nullptr) {
+            _backends[instance]->send_camera_capture_status(chan);
+        }
+    }
+}
+
 /*
   update; triggers by distance moved and camera trigger
 */

diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
@@ -100,6 +100,9 @@ class AP_Camera {
     void send_camera_fov_status(mavlink_channel_t chan);
 #endif
 
+    // send camera capture status message to GCS
+    void send_camera_capture_status(mavlink_channel_t chan);
+
     // configure camera
     void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);
     void configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time);

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -286,6 +286,26 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
 }
 #endif
 
+// send camera capture status message to GCS
+void AP_Camera_Backend::send_camera_capture_status(mavlink_channel_t chan) const
+{
+    const float NaN = nanf("0x4152");
+
+    // Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
+    const uint8_t image_status = (time_interval_settings.num_remaining > 0) ? 2 : 0;
+
+    // send CAMERA_CAPTURE_STATUS message
+    mavlink_msg_camera_capture_status_send(
+        chan,
+        AP_HAL::millis(),
+        image_status,
+        0,                // current status of video capturing (0: idle, 1: capture in progress)
+        static_cast<float>(time_interval_settings.time_interval_ms) / 1000.0, // image capture interval (s)
+        0,                // elapsed time since recording started (ms)
+        NaN,              // available storage capacity (ms)
+        image_index);     // total number of images captured
+}
+
 // setup a callback for a feedback pin. When on PX4 with the right FMU
 // mode we can use the microsecond timer.
 void AP_Camera_Backend::setup_feedback_callback()

diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -115,6 +115,9 @@ class AP_Camera_Backend
     void send_camera_fov_status(mavlink_channel_t chan) const;
 #endif
 
+    // send camera capture status message to GCS
+    virtual void send_camera_capture_status(mavlink_channel_t chan) const;
+
 #if AP_CAMERA_SCRIPTING_ENABLED
     // accessor to allow scripting backend to retrieve state
     // returns true on success and cam_state is filled in

diff --git a/libraries/AP_Camera/AP_Camera_Mount.cpp b/libraries/AP_Camera/AP_Camera_Mount.cpp
@@ -88,4 +88,13 @@ void AP_Camera_Mount::send_camera_settings(mavlink_channel_t chan) const
     }
 }
 
+// send camera capture status message to GCS
+void AP_Camera_Mount::send_camera_capture_status(mavlink_channel_t chan) const
+{
+    AP_Mount* mount = AP::mount();
+    if (mount != nullptr) {
+        return mount->send_camera_capture_status(get_mount_instance(), chan);
+    }
+}
+
 #endif // AP_CAMERA_MOUNT_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_Mount.h b/libraries/AP_Camera/AP_Camera_Mount.h
@@ -59,6 +59,9 @@ class AP_Camera_Mount : public AP_Camera_Backend
 
     // send camera settings message to GCS
     void send_camera_settings(mavlink_channel_t chan) const override;
+
+    // send camera capture status message to GCS
+    void send_camera_capture_status(mavlink_channel_t chan) const override;
 };
 
 #endif // AP_CAMERA_MOUNT_ENABLED
diff --git a/libraries/AP_EFI/AP_EFI_State.h b/libraries/AP_EFI/AP_EFI_State.h
@@ -15,9 +15,6 @@
 
 #pragma once
 
-#define EFI_MAX_INSTANCES 2
-#define EFI_MAX_BACKENDS 2
-
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlywooF405S-AIO/hwdef.dat
@@ -151,6 +151,6 @@ define HAL_FRAME_TYPE_DEFAULT 12
 define DEFAULT_NTF_LED_TYPES 257
 
 # save some flash space
-include ../include/no_bootloader_DFU.inc
+include ../include/minimize_fpv_osd.inc
 
 AUTOBUILD_TARGETS Copter
diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
@@ -850,6 +850,16 @@ void AP_Mount::send_camera_settings(uint8_t instance, mavlink_channel_t chan) co
     backend->send_camera_settings(chan);
 }
 
+// send camera capture status message to GCS
+void AP_Mount::send_camera_capture_status(uint8_t instance, mavlink_channel_t chan) const
+{
+    auto *backend = get_instance(instance);
+    if (backend == nullptr) {
+        return;
+    }
+    backend->send_camera_capture_status(chan);
+}
+
 // get rangefinder distance.  Returns true on success
 bool AP_Mount::get_rangefinder_distance(uint8_t instance, float& distance_m) const
 {

diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
@@ -256,6 +256,9 @@ class AP_Mount
     // send camera settings message to GCS
     void send_camera_settings(uint8_t instance, mavlink_channel_t chan) const;
 
+    // send camera capture status message to GCS
+    void send_camera_capture_status(uint8_t instance, mavlink_channel_t chan) const;
+
     //
     // rangefinder
     //

diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -182,6 +182,9 @@ class AP_Mount_Backend
     // send camera settings message to GCS
     virtual void send_camera_settings(mavlink_channel_t chan) const {}
 
+    // send camera capture status message to GCS
+    virtual void send_camera_capture_status(mavlink_channel_t chan) const {}
+
 #if AP_MOUNT_POI_TO_LATLONALT_ENABLED
     // get poi information.  Returns true on success and fills in gimbal attitude, location and poi location
     bool get_poi(uint8_t instance, Quaternion &quat, Location &loc, Location &poi_loc);

diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -999,6 +999,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_CAMERA_INFORMATION,    MSG_CAMERA_INFORMATION},
         { MAVLINK_MSG_ID_CAMERA_SETTINGS,       MSG_CAMERA_SETTINGS},
         { MAVLINK_MSG_ID_CAMERA_FOV_STATUS,     MSG_CAMERA_FOV_STATUS},
+        { MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS, MSG_CAMERA_CAPTURE_STATUS},
 #endif
 #if HAL_MOUNT_ENABLED
         { MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, MSG_GIMBAL_DEVICE_ATTITUDE_STATUS},
@@ -5784,6 +5785,16 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         }
         break;
 #endif
+    case MSG_CAMERA_CAPTURE_STATUS:
+        {
+            AP_Camera *camera = AP::camera();
+            if (camera == nullptr) {
+                break;
+            }
+            CHECK_PAYLOAD_SIZE(CAMERA_CAPTURE_STATUS);
+            camera->send_camera_capture_status(chan);
+        }
+        break;
 #endif
 
     case MSG_SYSTEM_TIME:

diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
@@ -52,6 +52,7 @@ enum ap_message : uint8_t {
     MSG_CAMERA_INFORMATION,
     MSG_CAMERA_SETTINGS,
     MSG_CAMERA_FOV_STATUS,
+    MSG_CAMERA_CAPTURE_STATUS,
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
     MSG_GIMBAL_MANAGER_INFORMATION,
     MSG_GIMBAL_MANAGER_STATUS,