Handle digicam messages as COMMAND_INT as well as COMMAND_LONG #25409
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peterbarker
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tridge
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Nov 1, 2023
libraries/AP_Camera/AP_Camera.h
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| @@ -96,12 +96,12 @@ class AP_Camera { | |||
| void send_camera_settings(mavlink_channel_t chan); | |||
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| // configure camera | |||
| void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time); | |||
| void configure(uint8_t instance, float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time); | |||
| void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time); | |||
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int32_t to match type in COMMAND_INT, also to cope if someone used a -1 float
| @@ -161,10 +161,10 @@ void AP_Camera_Backend::stop_capture() | |||
| } | |||
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| // handle camera control | |||
| void AP_Camera_Backend::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id) | |||
| void AP_Camera_Backend::control(float session, float zoom_pos, float zoom_step, float focus_lock, uint32_t shooting_cmd, uint32_t cmd_id) | |||
| @@ -89,10 +89,10 @@ class AP_Camera_Backend | |||
| virtual void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) {} | |||
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| // configure camera | |||
| virtual void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time) {} | |||
| virtual void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, uint32_t exposure_type, uint32_t cmd_id, float engine_cutoff_time) {} | |||
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fine to merge when no signed -> unsigned changes |
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Added more tests into the autotest suite to ensure fields get passed through appropriately.
The integer fields in these commands are used for integer values (enumeration / de-dupe sequencing / exposure integer), so that's handy.
Comments on what the command fields mean can be found in the message equivalents of the commands.