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Commit 0446c70d authored by Gus Grubba's avatar Gus Grubba Committed by GitHub
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Merge pull request #5580 from DonLakeFlyer/SurveyMode 

CAMERA_MODE_IMAGE_SURVEY support
parents f10ac35f e1fb25c6
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Showing with 48 additions and 36 deletions
src/MissionManager/CameraSection.FactMetaData.json
View file @ 0446c70d
......@@ -49,8 +49,8 @@
"name": "CameraMode",
"shortDescription": "Specify whether the camera should switch to photo or video mode",
"type": "uint32",
"enumStrings": "Take photos,Record video",
"enumValues": "0,1",
"enumStrings": "Take photos,Record video,Survey photo mode",
"enumValues": "0,1,2",
"defaultValue": 0
}
]
src/MissionManager/CameraSection.cc
View file @ 0446c70d
......@@ -392,7 +392,7 @@ bool CameraSection::_scanSetCameraMode(QmlObjectListModel* visualItems, int scan
MissionItem& missionItem = item->missionItem();
if ((MAV_CMD)item->command() == MAV_CMD_SET_CAMERA_MODE) {
// We specifically don't test param 5/6/7 since we don't have NaN persistence for those fields
if (missionItem.param1() == 0 && (missionItem.param2() == 0 || missionItem.param2() == 1) && qIsNaN(missionItem.param3())) {
if (missionItem.param1() == 0 && (missionItem.param2() == CAMERA_MODE_IMAGE || missionItem.param2() == CAMERA_MODE_VIDEO || missionItem.param2() == CAMERA_MODE_IMAGE_SURVEY) && qIsNaN(missionItem.param3())) {
setSpecifyCameraMode(true);
cameraMode()->setRawValue(missionItem.param2());
visualItems->removeAt(scanIndex)->deleteLater();
......
src/MissionManager/CameraSection.h
View file @ 0446c70d
......@@ -34,12 +34,6 @@ public:
};
Q_ENUMS(CameraAction)
enum CameraMode {
CameraModePhoto,
CameraModeVideo
};
Q_ENUMS(CameraMode)
Q_PROPERTY(bool specifyGimbal READ specifyGimbal WRITE setSpecifyGimbal NOTIFY specifyGimbalChanged)
Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT)
Q_PROPERTY(Fact* gimbalYaw READ gimbalYaw CONSTANT)
......
src/MissionManager/CameraSectionTest.cc
View file @ 0446c70d
......@@ -13,18 +13,19 @@
#include "MissionCommandUIInfo.h"
CameraSectionTest::CameraSectionTest(void)
: _spyCamera(NULL)
, _spySection(NULL)
, _cameraSection(NULL)
, _validGimbalItem(NULL)
, _validDistanceItem(NULL)
, _validTimeItem(NULL)
, _validStartVideoItem(NULL)
, _validStopVideoItem(NULL)
, _validStopDistanceItem(NULL)
, _validStopTimeItem(NULL)
, _validCameraPhotoModeItem(NULL)
, _validCameraVideoModeItem(NULL)
: _spyCamera (NULL)
, _spySection (NULL)
, _cameraSection (NULL)
, _validGimbalItem (NULL)
, _validDistanceItem (NULL)
, _validTimeItem (NULL)
, _validStartVideoItem (NULL)
, _validStopVideoItem (NULL)
, _validStopDistanceItem (NULL)
, _validStopTimeItem (NULL)
, _validCameraPhotoModeItem (NULL)
, _validCameraVideoModeItem (NULL)
, _validCameraSurveyPhotoModeItem (NULL)
{
}
......@@ -83,7 +84,7 @@ void CameraSectionTest::init(void)
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
CameraSection::CameraModePhoto,
CAMERA_MODE_IMAGE,
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autocontinue
false), // isCurrentItem
......@@ -93,11 +94,21 @@ void CameraSectionTest::init(void)
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
CameraSection::CameraModeVideo,
CAMERA_MODE_VIDEO,
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autocontinue
false), // isCurrentItem
this);
_validCameraSurveyPhotoModeItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0, // sequence number
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // Reserved (Set to 0)
CAMERA_MODE_IMAGE_SURVEY,
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autocontinue
false), // isCurrentItem
this);
_validTakePhotoItem = new SimpleMissionItem(_offlineVehicle,
MissionItem(0,
MAV_CMD_IMAGE_START_CAPTURE,
......@@ -125,6 +136,7 @@ void CameraSectionTest::cleanup(void)
delete _validTakePhotoItem;
delete _validCameraPhotoModeItem;
delete _validCameraVideoModeItem;
delete _validCameraSurveyPhotoModeItem;
SectionTest::cleanup();
}
......@@ -453,7 +465,7 @@ void CameraSectionTest::_testAppendSectionItems(void)
// Test specifyCameraMode
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(CameraSection::CameraModePhoto);
_cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
......@@ -463,7 +475,7 @@ void CameraSectionTest::_testAppendSectionItems(void)
seqNum = 0;
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(CameraSection::CameraModeVideo);
_cameraSection->cameraMode()->setRawValue(CAMERA_MODE_VIDEO);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
......@@ -472,6 +484,16 @@ void CameraSectionTest::_testAppendSectionItems(void)
rgMissionItems.clear();
seqNum = 0;
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE_SURVEY);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 1);
QCOMPARE(seqNum, 1);
_missionItemsEqual(*rgMissionItems[0], _validCameraSurveyPhotoModeItem->missionItem());
_cameraSection->setSpecifyCameraMode(false);
rgMissionItems.clear();
seqNum = 0;
// Test camera actions
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhoto);
......@@ -539,7 +561,7 @@ void CameraSectionTest::_testAppendSectionItems(void)
_cameraSection->cameraAction()->setRawValue(CameraSection::TakePhotosIntervalTime);
_cameraSection->cameraPhotoIntervalTime()->setRawValue(_validTimeItem->missionItem().param2());
_cameraSection->setSpecifyCameraMode(true);
_cameraSection->cameraMode()->setRawValue(CameraSection::CameraModePhoto);
_cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE);
_cameraSection->appendSectionItems(rgMissionItems, this, seqNum);
QCOMPARE(rgMissionItems.count(), 3);
QCOMPARE(seqNum, 3);
......@@ -995,7 +1017,7 @@ void CameraSectionTest::_resetSection(void)
_cameraSection->cameraPhotoIntervalTime()->setRawValue(0);
_cameraSection->cameraPhotoIntervalDistance()->setRawValue(0);
_cameraSection->cameraAction()->setRawValue(CameraSection::CameraActionNone);
_cameraSection->cameraMode()->setRawValue(CameraSection::CameraModePhoto);
_cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE);
_cameraSection->setSpecifyCameraMode(false);
}
......
src/MissionManager/CameraSectionTest.h
View file @ 0446c70d
......@@ -72,5 +72,6 @@ private:
SimpleMissionItem* _validStopTimeItem;
SimpleMissionItem* _validCameraPhotoModeItem;
SimpleMissionItem* _validCameraVideoModeItem;
SimpleMissionItem* _validCameraSurveyPhotoModeItem;
SimpleMissionItem* _validTakePhotoItem;
};
src/MissionManager/MavCmdInfoCommon.json
View file @ 0446c70d
......@@ -971,17 +971,12 @@
"id": 530,
"rawName": "MAV_CMD_SET_CAMERA_MODE",
"friendlyName": "Set camera modes" ,
"description": "Set camera photo, video, audio modes.",
"description": "Set camera photo, video modes.",
"category": "Camera",
"param1": {
"label": "Reserved",
"default": 0,
"decimalPlaces": 0
},
"param2": {
"label": "Mode",
"enumStrings": "Take photos,Record video",
"enumValues": "0,1",
"enumStrings": "Take photos,Record video,Survey photo mode",
"enumValues": "0,1,2",
"default": 0
}
},
......
src/MissionManager/MissionController.cc
View file @ 0446c70d
......@@ -327,7 +327,7 @@ int MissionController::insertComplexMissionItem(QString itemName, QGeoCoordinate
// Set camera to photo mode (leave alone if user already specified)
if (cameraSection->cameraModeSupported() && !cameraSection->specifyCameraMode()) {
cameraSection->setSpecifyCameraMode(true);
cameraSection->cameraMode()->setRawValue(0);
cameraSection->cameraMode()->setRawValue(CAMERA_MODE_IMAGE_SURVEY);
}
// Point gimbal straight down
if (_controllerVehicle->firmwarePlugin()->hasGimbal(_controllerVehicle, rollSupported, pitchSupported, yawSupported) && pitchSupported) {
......
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