AP_Camera: fix video recording while armed

ArduPilot · Feb 15, 2024 · a16d71c · a16d71c
1 parent 2263dce
commit a16d71c
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -17,11 +17,13 @@ AP_Camera_Backend::AP_Camera_Backend(AP_Camera &frontend, AP_Camera_Params &para
 // update - should be called at 50hz
 void AP_Camera_Backend::update()
 {
-    // Check CAMx_OPTIONS and start/stop recording based on arm/disarm
-    if (_params.options.get() & CAMOPTIONS::REC_ARM_DISARM) {
+    // Check camera options and start/stop recording based on arm/disarm
+    if ((_params.options.get() & (uint8_t)Options::RecordWhileArmed) != 0) {
         if (hal.util->get_soft_armed() != last_is_armed) {
             last_is_armed = hal.util->get_soft_armed();
-            record_video(last_is_armed);
+            if (!record_video(last_is_armed)) {
+                GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Camera: failed to %s recording", last_is_armed ? "start" : "stop");
+            }
         }
     }
 

diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -36,8 +36,9 @@ class AP_Camera_Backend
     /* Do not allow copies */
     CLASS_NO_COPY(AP_Camera_Backend);
 
-    enum CAMOPTIONS {
-        REC_ARM_DISARM = 0, // Recording start/stop on Arm/Disarm
+    // camera options parameter values
+    enum class Options : int8_t {
+        RecordWhileArmed = (1 << 0U)
     };
 
     // init - performs any required initialisation