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AP_Mount: SWITCH statement to table reference #24992

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merged 2 commits into from
Jul 25, 2024
Merged

AP_Mount: SWITCH statement to table reference #24992

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6ab11a2
AP_Mount: SWITCH statement to table reference
muramura Sep 15, 2023
8e89542
AP_Camera: add sanity check for Siyi lens change
peterbarker Jul 10, 2024
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45 changes: 15 additions & 30 deletions libraries/AP_Mount/AP_Mount_Siyi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -916,39 +916,24 @@ bool AP_Mount_Siyi::set_lens(uint8_t lens)
}

// maps lens to siyi camera image type so that lens of 0, 1, 2 are more useful
CameraImageType cam_image_type = CameraImageType::MAIN_ZOOM_SUB_THERMAL;
switch (lens) {
case 0:
cam_image_type = CameraImageType::MAIN_ZOOM_SUB_THERMAL; // 3
break;
case 1:
cam_image_type = CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL; // 5
break;
case 2:
cam_image_type = CameraImageType::MAIN_THERMAL_SUB_ZOOM; // 7
break;
case 3:
cam_image_type = CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE; // 0
break;
case 4:
cam_image_type = CameraImageType::MAIN_PIP_WIDEANGLE_THERMAL_SUB_ZOOM; // 1
break;
case 5:
cam_image_type = CameraImageType::MAIN_PIP_ZOOM_WIDEANGLE_SUB_THERMAL; // 2
break;
case 6:
cam_image_type = CameraImageType::MAIN_ZOOM_SUB_WIDEANGLE; // 4
break;
case 7:
cam_image_type = CameraImageType::MAIN_WIDEANGLE_SUB_ZOOM; // 6
break;
case 8:
cam_image_type = CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE; // 8
break;
static const CameraImageType cam_image_type_table[] {
CameraImageType::MAIN_ZOOM_SUB_THERMAL, // 3
CameraImageType::MAIN_WIDEANGLE_SUB_THERMAL, // 5
CameraImageType::MAIN_THERMAL_SUB_ZOOM, // 7
CameraImageType::MAIN_PIP_ZOOM_THERMAL_SUB_WIDEANGLE, // 0
CameraImageType::MAIN_PIP_WIDEANGLE_THERMAL_SUB_ZOOM, // 1
CameraImageType::MAIN_PIP_ZOOM_WIDEANGLE_SUB_THERMAL, // 2
CameraImageType::MAIN_ZOOM_SUB_WIDEANGLE, // 4
CameraImageType::MAIN_WIDEANGLE_SUB_ZOOM, // 6
CameraImageType::MAIN_THERMAL_SUB_WIDEANGLE, // 8
};

if (lens >= ARRAY_SIZE(cam_image_type_table)) {
return false;
}

// send desired image type to camera
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)cam_image_type);
return send_1byte_packet(SiyiCommandId::SET_CAMERA_IMAGE_TYPE, (uint8_t)cam_image_type_table[lens]);
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}

// set_camera_source is functionally the same as set_lens except primary and secondary lenses are specified by type
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