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AP_Camera, AP_Mount: Add handler for CAMERA_CAPTURE_STATUS request #24953

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merged 4 commits into from
Nov 9, 2023
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AP_Camera, AP_Mount: Add handler for CAMERA_CAPTURE_STATUS request #24953

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ddf457e
AP_Camera: Add handler for CAMERA_CAPTURE_STATUS request
nexton-winjeel Sep 12, 2023
8faecaf
AP_Mount: Add handler for CAMERA_CAPTURE_STATUS request
nexton-winjeel Sep 12, 2023
2e66347
AP_Camera: Add Camera_Mount handler for CAMERA_CAPTURE_STATUS request
nexton-winjeel Sep 12, 2023
cd7c20d
GCS_MAVLink: Add handler for CAMERA_CAPTURE_STATUS request
nexton-winjeel Sep 12, 2023
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13 changes: 13 additions & 0 deletions libraries/AP_Camera/AP_Camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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@nexton-winjeel nexton-winjeel Sep 12, 2023 •
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I've copied the way the other messages (e.g. CAMERA_SETTINGS, CAMERA_INFORMATION) are handled.

However, these handlers are problematic if there are multiple camera backends:

  • these messages do not have IDs (MAVLink intent is to use compid to distinguish components);
  • however, all of these are sent with the MAV_COMP_ID_AUTOPILOT1 compid, which will confuse a GCS.

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Raised #24955.

}
}
}

/*
update; triggers by distance moved and camera trigger
*/
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3 changes: 3 additions & 0 deletions libraries/AP_Camera/AP_Camera.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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20 changes: 20 additions & 0 deletions libraries/AP_Camera/AP_Camera_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
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3 changes: 3 additions & 0 deletions libraries/AP_Camera/AP_Camera_Backend.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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9 changes: 9 additions & 0 deletions libraries/AP_Camera/AP_Camera_Mount.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
3 changes: 3 additions & 0 deletions libraries/AP_Camera/AP_Camera_Mount.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
10 changes: 10 additions & 0 deletions libraries/AP_Mount/AP_Mount.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
{
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3 changes: 3 additions & 0 deletions libraries/AP_Mount/AP_Mount.h
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Expand Up @@ -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
//
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3 changes: 3 additions & 0 deletions libraries/AP_Mount/AP_Mount_Backend.h
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Expand Up @@ -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);
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11 changes: 11 additions & 0 deletions libraries/GCS_MAVLink/GCS_Common.cpp
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Expand Up @@ -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},
Expand Down Expand Up @@ -5785,6 +5786,16 @@ 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);
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camera->send_camera_capture_status(chan);
}
break;
#endif

case MSG_SYSTEM_TIME:
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1 change: 1 addition & 0 deletions libraries/GCS_MAVLink/ap_message.h
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Expand Up @@ -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,
Expand Down