Add mount POI support to c++ (send camera fov status) #24657
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| float dist_increment_m; | ||
| float dist_max; | ||
| AP_Param::get("TERRAIN_SPACING", dist_increment_m); |
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We shouldn't directly grab parameters by name like this because it is quite CPU intensive. Instead if necessary we should add an accessor to AP_Terrain to get the current spacing.
For POI_DIST_MAX we will probably need to add a new parameter or we could just hardcode it for now to some value like 10km.
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Currently Hardcoded. But i am not marking this a resolved so later i remember this to be done.
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Great to see this, I've added some comments. thanks! |
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I have tested this. the version without threading works. Now in next push it will be done with threading. Some other parts also need work for eg: new parameter for max distance |
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Well i fixed all things. please ignore the current code. just need a test and a i will push here |
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Thanks for the reviews. Addressed most of the comments of @rmackay9 and @peterbarker. Still i dont have a clue on how to test the priority and stack size. however functionality is working.
libraries/AP_Camera/AP_Camera.cpp
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| @@ -418,6 +418,17 @@ void AP_Camera::send_camera_settings(mavlink_channel_t chan) | |||
| } | |||
| } | |||
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| #if AP_TERRAIN_AVAILABLE | |||
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| #if AP_TERRAIN_AVAILABLE | |
| #if AP_CAMERA_SEND_FOV_STATUS_ENABLED |
... and all other relevant places.
You'll need an entry like this in AP_Camera_config.h:
#ifndef AP_CAMERA_SEND_FOV_STATUS_ENABLED
#define AP_CAMERA_SEND_FOV_STATUS_ENABLED AP_TERRAIN_AVAILABLE
#endif
... and probably #include <AP_Terrain/AP_Terrain_config.h at the top of that file
libraries/AP_Camera/AP_Camera.h
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| @@ -10,6 +10,8 @@ | |||
| #include <GCS_MAVLink/GCS_MAVLink.h> | |||
| #include "AP_Camera_Params.h" | |||
| #include "AP_Camera_shareddefs.h" | |||
| #include <AP_Terrain/AP_Terrain.h> | |||
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Will not need this include
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libraries/AP_Camera/AP_Camera.cpp
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| @@ -418,6 +418,17 @@ void AP_Camera::send_camera_settings(mavlink_channel_t chan) | |||
| } | |||
| } | |||
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| #if AP_TERRAIN_AVAILABLE | |||
libraries/AP_Camera/AP_Camera.h
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| @@ -10,6 +10,8 @@ | |||
| #include <GCS_MAVLink/GCS_MAVLink.h> | |||
| #include "AP_Camera_Params.h" | |||
| #include "AP_Camera_shareddefs.h" | |||
| #include <AP_Terrain/AP_Terrain.h> | |||
| NaN, // currently setting hfov as NaN | ||
| NaN // currently setting vfov as NaN | ||
| ); | ||
| #endif |
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I don't think this is nested correctly.
Please add your new define to build_options.py.
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Added. but should it be done for AP_MOUNT_POI_TO_LATLNGALT_ENABLED also ?
| if (total_dist >= dist_max) { | ||
| // POI: unable to find terrain within dist_max | ||
| continue; | ||
| } else if (is_negative(terrain_amsl_m)) { |
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| } else if (is_negative(terrain_amsl_m)) { | |
| } | |
| if (is_negative(terrain_amsl_m)) { |
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@peterbarker , done changes suggested by you. however i have concerns in some of them listed here.
| NaN, // currently setting hfov as NaN | ||
| NaN // currently setting vfov as NaN | ||
| ); | ||
| #endif |
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Added. but should it be done for AP_MOUNT_POI_TO_LATLNGALT_ENABLED also ?
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@peterbarker Done fixing. Have a look (specially at the one making const to get_poi in mount backend)
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Replaced by #25390 so I will close this PR. The new PR's commits preserve the contributors github account though so credit will still go where it belongs. Txs. |
Reference issue #24038 A Task from Camera Enhancements list #23151.
This PR adds support for sending the STATUS_FOV message to the ground station including the lat,lon,alt of the Location that the gimbal is pointing at. The calculations used are ported from the mount-poi lua script.
Tested With using V6x and SiYi zr10.
