mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Andrew Tridgell
6434442671
Cache bounded stream lists and resume replies independently on each GCS link after transmit backpressure. Expire remote capture status after three seconds, retain locally scheduled interval capture, and back off unanswered status requests. Preserve native camera identity in cached replies and isolated-link broadcasts, and suppress synthetic FC-owned status for native cameras. Restore configured mount associations in cached information only when a same-system camera advertises none. Add CAMn_COMPID (0 or 7-255) so camera-v2 discovery can use a non-default component ID. The first slot owns a colliding ID; duplicate or invalid IDs warn and disable discovery. Resolve command selectors as component IDs or legacy slots 1-6 with the same rules for live commands and missions. NaN in formerly reserved selector fields means unset. Video commands with a nonzero camera selector treat param1 as a stream ID and pass the status frequency through; without one they keep the old camera-slot interpretation. Fill camera_device_id in camera information, settings, capture status, field of view and stream messages, and document the routing and selector design.
130 lines
5.8 KiB
C++
130 lines
5.8 KiB
C++
#include "AP_Camera_Params.h"
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#include <GCS_MAVLink/GCS_MAVLink.h>
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// table of user settable parameters
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const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
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// 0 should not be used
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// @Param: _TYPE
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// @DisplayName: Camera shutter (trigger) type
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// @Description: how to trigger the camera to take a picture
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// @Values: 0:None, 1:Servo, 2:Relay, 3:GoPro in Solo Gimbal, 4:Mount (Siyi/Topotek/Viewpro/Xacti), 5:MAVLink, 6:MAVLinkCamV2 (Gremsy/AVT), 7:Scripting, 8:RunCam
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// @RebootRequired: True
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// @User: Standard
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AP_GROUPINFO_FLAGS("_TYPE", 1, AP_Camera_Params, type, 0, AP_PARAM_FLAG_ENABLE),
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// @Param: _DURATION
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// @DisplayName: Camera shutter duration held open
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// @Description: Duration in seconds that the camera shutter is held open
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// @Units: s
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// @Range: 0 5
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// @User: Standard
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AP_GROUPINFO("_DURATION", 2, AP_Camera_Params, trigger_duration, 0.1),
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// @Param: _SERVO_ON
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// @DisplayName: Camera servo ON PWM value
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// @Description: PWM value in microseconds to move servo to when shutter is activated
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// @Units: PWM
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// @Range: 1000 2000
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// @User: Standard
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AP_GROUPINFO("_SERVO_ON", 3, AP_Camera_Params, servo_on_pwm, 1300),
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// @Param: _SERVO_OFF
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// @DisplayName: Camera servo OFF PWM value
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// @Description: PWM value in microseconds to move servo to when shutter is deactivated
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// @Units: PWM
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// @Range: 1000 2000
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// @User: Standard
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AP_GROUPINFO("_SERVO_OFF", 4, AP_Camera_Params, servo_off_pwm, 1100),
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// @Param: _TRIGG_DIST
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// @DisplayName: Camera trigger distance
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// @Description: Distance in meters between camera triggers. If this value is non-zero then the camera will trigger whenever the position changes by this number of meters regardless of what mode the APM is in. Note that this parameter can also be set in an auto mission using the DO_SET_CAM_TRIGG_DIST command, allowing you to enable/disable the triggering of the camera during the flight.
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// @User: Standard
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// @Units: m
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// @Range: 0 1000
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AP_GROUPINFO("_TRIGG_DIST", 5, AP_Camera_Params, trigg_dist, 0),
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// @Param: _RELAY_ON
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// @DisplayName: Camera relay ON value
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// @Description: This sets whether the relay goes high or low when it triggers. Note that you should also set RELAY_DEFAULT appropriately for your camera
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// @Values: 0:Low,1:High
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// @User: Standard
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AP_GROUPINFO("_RELAY_ON", 6, AP_Camera_Params, relay_on, 1),
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// @Param: _INTRVAL_MIN
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// @DisplayName: Camera minimum time interval between photos
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// @Description: Postpone shooting if previous picture was taken less than this many seconds ago
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// @Units: s
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// @Range: 0 10
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// @User: Standard
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AP_GROUPINFO("_INTRVAL_MIN", 7, AP_Camera_Params, interval_min, 0),
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// @Param: _FEEDBAK_PIN
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// @DisplayName: Camera feedback pin
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// @Description: pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. Some common values are given, but see the Wiki's "GPIOs" page for how to determine the pin number for a given autopilot. See also the CAMx_FEEDBCK_POL option.
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// @Values: -1:Disabled,50:AUX1,51:AUX2,52:AUX3,53:AUX4,54:AUX5,55:AUX6
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// @Range: -1 127
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// @User: Standard
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// @RebootRequired: True
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AP_GROUPINFO("_FEEDBAK_PIN", 8, AP_Camera_Params, feedback_pin, -1),
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// @Param: _FEEDBAK_POL
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// @DisplayName: Camera feedback pin polarity
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// @Description: Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
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// @Values: 0:TriggerLow,1:TriggerHigh
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// @User: Standard
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AP_GROUPINFO("_FEEDBAK_POL", 9, AP_Camera_Params, feedback_polarity, 1),
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// @Param: _OPTIONS
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// @DisplayName: Camera options
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// @Description: Camera options bitmask
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// @Bitmask: 0:Recording Starts at arming and stops at disarming
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// @User: Standard
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AP_GROUPINFO("_OPTIONS", 10, AP_Camera_Params, options, 0),
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// @Param: _MNT_INST
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// @DisplayName: Camera Mount instance
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// @Description: Mount instance camera is associated with. 0 means camera and mount have identical instance numbers e.g. camera1 and mount1
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// @User: Standard
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AP_GROUPINFO("_MNT_INST", 11, AP_Camera_Params, mount_instance, 0),
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// @Param: _HFOV
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// @DisplayName: Camera horizontal field of view
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// @Description: Camera horizontal field of view. 0 if unknown
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// @Units: deg
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// @Range: 0 360
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// @User: Standard
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AP_GROUPINFO("_HFOV", 12, AP_Camera_Params, hfov, 0),
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// @Param: _VFOV
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// @DisplayName: Camera vertical field of view
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// @Description: Camera vertical field of view. 0 if unknown
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// @Units: deg
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// @Range: 0 180
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// @User: Standard
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AP_GROUPINFO("_VFOV", 13, AP_Camera_Params, vfov, 0),
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// @Param: _COMPID
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// @DisplayName: MAVLink camera component ID
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// @Description: Component ID of the camera when using MAVLinkCamV2 (CAMn_TYPE=6). Zero selects MAV_COMP_ID_CAMERA plus the zero-based camera instance (100 for camera 1, 101 for camera 2). Values 7 to 255 select the specified component ID. IDs 1 to 6 are reserved for autopilot-connected cameras.
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// @Range: 0 255
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// @Increment: 1
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// @RebootRequired: True
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// @User: Advanced
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AP_GROUPINFO("_COMPID", 14, AP_Camera_Params, compid, 0),
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AP_GROUPEND
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};
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AP_Camera_Params::AP_Camera_Params(void) {
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AP_Param::setup_object_defaults(this, var_info);
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}
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int16_t AP_Camera_Params::mavlink_compid(uint8_t instance) const
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{
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return compid.get() == 0 ? MAV_COMP_ID_CAMERA + instance : compid.get();
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}
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