Line data    Source code

       1             : #include "AP_Camera_SoloGimbal.h"
       2             : 
       3             : #if AP_CAMERA_SOLOGIMBAL_ENABLED
       4             : 
       5             : #include <GCS_MAVLink/GCS.h>
       6             : 
       7             : // Toggle the shutter on the GoPro
       8             : // This is so ArduPilot can toggle the shutter directly, either for mission/GCS commands, or when the
       9             : // Solo's gimbal is installed on a vehicle other than a Solo.  The usual GoPro controls through the 
      10             : // Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
      11             : // entry point to actually take a picture.  returns true on success
      12           0 : bool AP_Camera_SoloGimbal::trigger_pic()
      13             : {
      14           0 :     if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
      15           0 :         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Not Available");
      16           0 :         return false;
      17             :     }
      18             : 
      19           0 :     const uint8_t gopro_shutter_start[4] = { 1, 0, 0, 0};
      20           0 :     const uint8_t gopro_shutter_stop[4] = { 0, 0, 0, 0};
      21             : 
      22           0 :     if (gopro_capture_mode == GOPRO_CAPTURE_MODE_PHOTO) {
      23             :         // Trigger shutter start to take a photo
      24           0 :         GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Photo Trigger");
      25           0 :         mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
      26             : 
      27           0 :     } else if (gopro_capture_mode == GOPRO_CAPTURE_MODE_VIDEO) {
      28           0 :         if (gopro_is_recording) {
      29             :             // GoPro is recording, so stop recording
      30           0 :             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Recording Stop");
      31           0 :             mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_stop);
      32             :         } else {
      33             :             // GoPro is not recording, so start recording
      34           0 :             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro Recording Start");
      35           0 :             mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_SHUTTER,gopro_shutter_start);
      36             :         }
      37             :     } else {
      38           0 :         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Unsupported Capture Mode");
      39           0 :         return false;
      40             :     }
      41             : 
      42           0 :     return true;
      43             : }
      44             : 
      45             : // Cycle the GoPro capture mode
      46             : // This is so ArduPilot can cycle through the capture modes of the GoPro directly, probably with an RC Aux function.
      47             : // This is primarily for Solo's gimbal being installed on a vehicle other than a Solo. The usual GoPro controls 
      48             : // through the Solo app and Solo controller do not use this, as it is done offboard on the companion computer.
      49             : // momentary switch to change camera between picture and video modes
      50           0 : void AP_Camera_SoloGimbal::cam_mode_toggle()
      51             : {
      52           0 :     uint8_t gopro_capture_mode_values[4] = { };
      53             : 
      54           0 :     if (gopro_status != GOPRO_HEARTBEAT_STATUS_CONNECTED) {
      55           0 :         GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "GoPro Not Available");
      56           0 :         return;
      57             :     }
      58             : 
      59           0 :     switch(gopro_capture_mode) {
      60           0 :         case GOPRO_CAPTURE_MODE_VIDEO:
      61           0 :             if (gopro_is_recording) {
      62             :                 // GoPro is recording, cannot change modes
      63           0 :                 GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro recording, can't change modes");
      64             :             } else {
      65             :                 // Change to camera mode
      66           0 :                 gopro_capture_mode_values[0] = GOPRO_CAPTURE_MODE_PHOTO;
      67           0 :                 mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
      68           0 :                 GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro changing to mode photo");
      69             :             }
      70           0 :             break;
      71             : 
      72           0 :         case GOPRO_CAPTURE_MODE_PHOTO:
      73             :         default:
      74             :             // Change to video mode
      75           0 :             gopro_capture_mode_values[0] =  GOPRO_CAPTURE_MODE_VIDEO;
      76           0 :             mavlink_msg_gopro_set_request_send(heartbeat_channel, mavlink_system.sysid, MAV_COMP_ID_GIMBAL,GOPRO_COMMAND_CAPTURE_MODE,gopro_capture_mode_values);
      77           0 :             GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GoPro changing to mode video");
      78           0 :             break;
      79             :     }
      80             : }
      81             : 
      82             : // handle incoming heartbeat from the Solo gimbal GoPro
      83           0 : void AP_Camera_SoloGimbal::handle_message(mavlink_channel_t chan, const mavlink_message_t &msg)
      84             : {
      85             :     mavlink_gopro_heartbeat_t report_msg;
      86           0 :     mavlink_msg_gopro_heartbeat_decode(&msg, &report_msg);
      87           0 :     gopro_is_recording = report_msg.flags & GOPRO_FLAG_RECORDING;
      88           0 :     heartbeat_channel = chan;
      89             : 
      90           0 :     switch((GOPRO_HEARTBEAT_STATUS)report_msg.status) {
      91           0 :         case GOPRO_HEARTBEAT_STATUS_DISCONNECTED:
      92             :         case GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE:
      93             :         case GOPRO_HEARTBEAT_STATUS_ERROR:
      94             :         case GOPRO_HEARTBEAT_STATUS_CONNECTED:
      95           0 :             gopro_status = (GOPRO_HEARTBEAT_STATUS)report_msg.status;
      96           0 :             break;
      97           0 :         case GOPRO_HEARTBEAT_STATUS_ENUM_END:
      98           0 :             break;
      99             :     }
     100             : 
     101           0 :     switch((GOPRO_CAPTURE_MODE)report_msg.capture_mode){
     102           0 :         case GOPRO_CAPTURE_MODE_VIDEO:
     103             :         case GOPRO_CAPTURE_MODE_PHOTO:
     104             :         case GOPRO_CAPTURE_MODE_BURST:
     105             :         case GOPRO_CAPTURE_MODE_TIME_LAPSE:
     106             :         case GOPRO_CAPTURE_MODE_MULTI_SHOT:
     107             :         case GOPRO_CAPTURE_MODE_PLAYBACK:
     108             :         case GOPRO_CAPTURE_MODE_SETUP:
     109             :         case GOPRO_CAPTURE_MODE_UNKNOWN:
     110           0 :             gopro_capture_mode = (GOPRO_CAPTURE_MODE)report_msg.capture_mode;
     111           0 :             break;
     112           0 :         case GOPRO_CAPTURE_MODE_ENUM_END:
     113           0 :             break;
     114             :     }
     115           0 : }
     116             : 
     117             : #endif // AP_CAMERA_SOLOGIMBAL_ENABLED