AP_Mount: Add handler for CAMERA_CAPTURE_STATUS request

ArduPilot · Nov 8, 2023 · 8faecaf · 8faecaf
1 parent ddf457e
commit 8faecaf
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Showing 3 changed files with 16 additions and 0 deletions.
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);