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AP_Camera: CAMERA_FOV_STATUS includes horizontal and vertical field-of-view #25441

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Nov 2, 2023
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AP_Camera: CAMERA_FOV_STATUS includes horizontal and vertical field-of-view #25441

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4 changes: 2 additions & 2 deletions libraries/AP_Camera/AP_Camera_Backend.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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4 changes: 4 additions & 0 deletions libraries/AP_Camera/AP_Camera_Backend.h
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Expand Up @@ -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) {}

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16 changes: 16 additions & 0 deletions libraries/AP_Camera/AP_Camera_Params.cpp
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Expand Up @@ -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

};
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2 changes: 2 additions & 0 deletions libraries/AP_Camera/AP_Camera_Params.h
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Expand Up @@ -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;
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