From f5ab31a9839aa7658f7cd2d5a77a1e20e6d6143e Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 2 Nov 2023 12:34:31 +0900
Subject: [PATCH] AP_Camera: camera_fov_status includes field-of-view

---
 libraries/AP_Camera/AP_Camera_Backend.cpp |  4 ++--
 libraries/AP_Camera/AP_Camera_Backend.h   |  4 ++++
 libraries/AP_Camera/AP_Camera_Params.cpp  | 16 ++++++++++++++++
 libraries/AP_Camera/AP_Camera_Params.h    |  2 ++
 4 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
index 94613beef107c..abda67057dfae 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.cpp
+++ b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -280,8 +280,8 @@ void AP_Camera_Backend::send_camera_fov_status(mavlink_channel_t chan) const
         poi_loc.lng,
         poi_loc.alt,
         quat_array,
-        NaN, // currently setting hfov as NaN
-        NaN  // currently setting vfov as NaN
+        horizontal_fov() > 0 ? horizontal_fov() : NaN,
+        vertical_fov() > 0 ? vertical_fov() : NaN
     );
 }
 #endif
diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
index ad2fa95544b48..bae4fb8ea291e 100644
--- a/libraries/AP_Camera/AP_Camera_Backend.h
+++ b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -85,6 +85,10 @@ class AP_Camera_Backend
     // set camera lens as a value from 0 to 5
     virtual bool set_lens(uint8_t lens) { return false; }
 
+    // get camera image horizontal or vertical field of view in degrees.  returns 0 if unknown
+    float horizontal_fov() const { return MAX(0, _params.hfov); }
+    float vertical_fov() const { return MAX(0, _params.vfov); }
+
     // handle MAVLink messages from the camera
     virtual void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg) {}
 
diff --git a/libraries/AP_Camera/AP_Camera_Params.cpp b/libraries/AP_Camera/AP_Camera_Params.cpp
index ee3f7796590ab..7b32ca60cf1bb 100644
--- a/libraries/AP_Camera/AP_Camera_Params.cpp
+++ b/libraries/AP_Camera/AP_Camera_Params.cpp
@@ -87,6 +87,22 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_MNT_INST", 11, AP_Camera_Params, mount_instance, 0),
 
+    // @Param: _HFOV
+    // @DisplayName: Camera horizontal field of view
+    // @Description: Camera horizontal field of view. 0 if unknown
+    // @Units: deg
+    // @Range: 0 360
+    // @User: Standard
+    AP_GROUPINFO("_HFOV", 12, AP_Camera_Params, hfov, 0),
+
+    // @Param: _VFOV
+    // @DisplayName: Camera vertical field of view
+    // @Description: Camera vertical field of view. 0 if unknown
+    // @Units: deg
+    // @Range: 0 180
+    // @User: Standard
+    AP_GROUPINFO("_VFOV", 13, AP_Camera_Params, vfov, 0),
+
     AP_GROUPEND
 
 };
diff --git a/libraries/AP_Camera/AP_Camera_Params.h b/libraries/AP_Camera/AP_Camera_Params.h
index ca54550fe1ddb..cba713a16319e 100644
--- a/libraries/AP_Camera/AP_Camera_Params.h
+++ b/libraries/AP_Camera/AP_Camera_Params.h
@@ -23,6 +23,8 @@ class AP_Camera_Params {
     AP_Float interval_min;      // minimum time (in seconds) between shots required by camera
     AP_Int8 options;            // whether to start recording when armed and stop when disarmed
     AP_Int8 mount_instance;     // mount instance to which camera is associated with
+    AP_Float hfov;              // horizontal field of view in degrees
+    AP_Float vfov;              // vertical field of view in degrees
 
     // pin number for accurate camera feedback messages
     AP_Int8 feedback_pin;