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Commit 25d43fd7 authored by Gus Grubba's avatar Gus Grubba
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MAVLink cleanup

parent 5856f869
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Showing with 31 additions and 39 deletions
v2.0 @ 0b881137
Subproject commit 05c8fa042e67888f98ce63e2a76bb35f38dd218f
Subproject commit 0b8811377674320acd37d6b8e1a2945133528f14
src/Camera/QGCCameraControl.cc
View file @ 25d43fd7
......@@ -120,10 +120,9 @@ QGCCameraControl::QGCCameraControl(const mavlink_camera_information_t *info, Veh
{
memcpy(&_info, &info, sizeof(mavlink_camera_information_t));
connect(this, &QGCCameraControl::dataReady, this, &QGCCameraControl::_dataReady);
const char* url = (const char*)info->cam_definition_uri;
if(url[0] != 0) {
if(info->cam_definition_uri[0] != 0) {
//-- Process camera definition file
_handleDefinitionFile(url);
_handleDefinitionFile(info->cam_definition_uri);
} else {
_initWhenReady();
}
......@@ -253,7 +252,7 @@ QGCCameraControl::takePhoto()
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_IMAGE_START_CAPTURE, // Command id
false, // ShowError
0, // Camera ID (0 for all cameras), 1 for first, 2 for second, etc.
0, // Reserved (Set to 0)
0, // Duration between two consecutive pictures (in seconds--ignored if single image)
1); // Number of images to capture total - 0 for unlimited capture
//-- Capture local image as well
......@@ -280,7 +279,7 @@ QGCCameraControl::startVideo()
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_VIDEO_START_CAPTURE, // Command id
true, // ShowError
0, // Camera ID (0 for all cameras), 1 for first, 2 for second, etc.
0, // Reserved (Set to 0)
0); // CAMERA_CAPTURE_STATUS Frequency
return true;
}
......@@ -297,7 +296,7 @@ QGCCameraControl::stopVideo()
MAV_COMP_ID_CAMERA, // Target component
MAV_CMD_VIDEO_STOP_CAPTURE, // Command id
true, // ShowError
0); // Camera ID (0 for all cameras), 1 for first, 2 for second, etc.
0); // Reserved (Set to 0)
return true;
}
return false;
......@@ -314,7 +313,7 @@ QGCCameraControl::setVideoMode()
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
0, // Reserved (Set to 0)
CAMERA_MODE_VIDEO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAMERA_MODE_VIDEO);
}
......@@ -331,7 +330,7 @@ QGCCameraControl::setPhotoMode()
_compID, // Target component
MAV_CMD_SET_CAMERA_MODE, // Command id
true, // ShowError
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
0, // Reserved (Set to 0)
CAMERA_MODE_PHOTO); // Camera mode (0: photo, 1: video)
_setCameraMode(CAMERA_MODE_PHOTO);
}
......@@ -346,7 +345,6 @@ QGCCameraControl::resetSettings()
_compID, // Target component
MAV_CMD_RESET_CAMERA_SETTINGS, // Command id
true, // ShowError
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
1); // Do Reset
}
......@@ -373,7 +371,6 @@ QGCCameraControl::_requestCaptureStatus()
_compID, // target component
MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, // command id
false, // showError
0, // Storage ID ("All" for now)
1); // Do Request
}
......@@ -897,7 +894,6 @@ QGCCameraControl::_requestCameraSettings()
_compID, // Target component
MAV_CMD_REQUEST_CAMERA_SETTINGS, // command id
false, // showError
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.) ==> TODO: Remove
1); // Do Request
}
}
......
src/Camera/QGCCameraManager.cc
View file @ 25d43fd7
......@@ -14,7 +14,6 @@ QGC_LOGGING_CATEGORY(CameraManagerLog, "CameraManagerLog")
QGCCameraManager::QGCCameraManager(Vehicle *vehicle)
: _vehicle(vehicle)
, _vehicleReadyState(false)
, _cameraCount(0)
, _currentTask(0)
{
qCDebug(CameraManagerLog) << "QGCCameraManager Created";
......@@ -109,7 +108,7 @@ QGCCameraManager::_findCamera(int id)
}
}
}
qWarning() << "Camera id not found:" << id;
qWarning() << "Camera component id not found:" << id;
return NULL;
}
......@@ -120,7 +119,6 @@ QGCCameraManager::_handleCameraInfo(const mavlink_message_t& message)
mavlink_camera_information_t info;
mavlink_msg_camera_information_decode(&message, &info);
qCDebug(CameraManagerLog) << "_handleCameraInfo:" << (const char*)(void*)&info.model_name[0] << (const char*)(void*)&info.vendor_name[0];
_cameraCount = info.camera_count;
QGCCameraControl* pCamera = _vehicle->firmwarePlugin()->createCameraControl(&info, _vehicle, message.compid, this);
if(pCamera) {
_cameras.append(pCamera);
......@@ -198,7 +196,6 @@ QGCCameraManager::_requestCameraInfo(int compID)
compID, // target component
MAV_CMD_REQUEST_CAMERA_INFORMATION, // command id
false, // showError
0, // Camera ID (0 for all, 1 for first, 2 for second, etc.)
1); // Do Request
}
}
src/Camera/QGCCameraManager.h
View file @ 25d43fd7
......@@ -55,7 +55,6 @@ protected:
protected:
Vehicle* _vehicle;
bool _vehicleReadyState;
int _cameraCount;
int _currentTask;
QmlObjectListModel _cameras;
QMap<int, bool> _cameraInfoRequested;
......
src/MissionManager/CameraSection.cc
View file @ 25d43fd7
......@@ -119,7 +119,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
MissionItem* item = new MissionItem(nextSequenceNumber++,
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // camera id, all cameras
0, // Reserved (Set to 0)
_cameraModeFact.rawValue().toDouble(),
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autoContinue
......@@ -151,7 +151,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Camera ID, all cameras
0, // Reserved (Set to 0)
_cameraPhotoIntervalTimeFact.rawValue().toInt(), // Interval
0, // Unlimited photo count
NAN, NAN, NAN, NAN, // param 4-7 reserved
......@@ -177,7 +177,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_VIDEO_START_CAPTURE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // Reserved (Set to 0)
0, // No CAMERA_CAPTURE_STATUS streaming
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autoContinue
......@@ -189,7 +189,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_VIDEO_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // Camera ID, all cameras
0, // Reserved (Set to 0)
NAN, NAN, NAN, NAN, NAN, NAN, // param 2-7 reserved
true, // autoContinue
false, // isCurrentItem
......@@ -209,7 +209,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_IMAGE_STOP_CAPTURE,
MAV_FRAME_MISSION,
0, // camera id, all cameras
0, // Reserved (Set to 0)
NAN, NAN, NAN, NAN, NAN, NAN, // param 2-7 reserved
true, // autoContinue
false, // isCurrentItem
......@@ -220,7 +220,7 @@ void CameraSection::appendSectionItems(QList<MissionItem*>& items, QObject* miss
item = new MissionItem(nextSequenceNumber++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
......
src/MissionManager/CameraSectionTest.cc
View file @ 25d43fd7
......@@ -63,7 +63,7 @@ void CameraSectionTest::init(void)
MissionItem(0, // sequence number
MAV_CMD_VIDEO_START_CAPTURE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // Reserved (Set to 0)
0, // No CAMERA_CAPTURE_STATUS streaming
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autocontinue
......@@ -82,7 +82,7 @@ void CameraSectionTest::init(void)
MissionItem(0, // sequence number
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // Reserved (Set to 0)
CameraSection::CameraModePhoto,
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autocontinue
......@@ -92,7 +92,7 @@ void CameraSectionTest::init(void)
MissionItem(0, // sequence number
MAV_CMD_SET_CAMERA_MODE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // Reserved (Set to 0)
CameraSection::CameraModeVideo,
NAN, NAN, NAN, NAN, NAN, // param 3-7 reserved
true, // autocontinue
......@@ -102,7 +102,7 @@ void CameraSectionTest::init(void)
MissionItem(0,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // camera id = 0, all cameras
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
......@@ -673,7 +673,7 @@ void CameraSectionTest::_testScanForCameraModeSection(void)
/*
MAV_CMD_SET_CAMERA_MODE
Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
Mission Param #1 Reserved (Set to 0)
Mission Param #2 Camera mode (0: photo mode, 1: video mode)
Mission Param #3 Reserved (all remaining params)
*/
......@@ -700,7 +700,7 @@ void CameraSectionTest::_testScanForPhotoIntervalTimeSection(void)
/*
MAV_CMD_IMAGE_START_CAPTURE WIP: Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture.
Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
Mission Param #1 Reserved (Set to 0)
Mission Param #2 Duration between two consecutive pictures (in seconds)
Mission Param #3 Number of images to capture total - 0 for unlimited capture
*/
......@@ -827,7 +827,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void)
/*
MAV_CMD_VIDEO_START_CAPTURE WIP: Starts video capture (recording)
Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
Mission Param #1 Reserved (Set to 0)
Mission Param #2 Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)
Mission Param #3 Reserved
*/
......@@ -845,7 +845,7 @@ void CameraSectionTest::_testScanForStartVideoSection(void)
// Start Video command but incorrect settings
SimpleMissionItem invalidSimpleItem(_offlineVehicle, _validStartVideoItem->missionItem());
invalidSimpleItem.missionItem().setParam1(10); // Camera id must be 0
invalidSimpleItem.missionItem().setParam1(10); // Reserved (must be 0)
visualItems.append(&invalidSimpleItem);
QCOMPARE(_cameraSection->scanForSection(&visualItems, scanIndex), false);
QCOMPARE(visualItems.count(), 1);
......@@ -872,7 +872,7 @@ void CameraSectionTest::_testScanForStopVideoSection(void)
/*
MAV_CMD_VIDEO_STOP_CAPTURE Stop the current video capture (recording)
Mission Param #1 WIP: Camera ID
Mission Param #1 Reserved (Set to 0)
*/
SimpleMissionItem* newValidStopVideoItem = new SimpleMissionItem(_offlineVehicle, this);
......@@ -942,7 +942,7 @@ void CameraSectionTest::_testScanForTakePhotoSection(void)
/*
MAV_CMD_IMAGE_START_CAPTURE WIP: Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture.
Mission Param #1 Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)
Mission Param #1 Reserved (Set to 0)
Mission Param #2 Duration between two consecutive pictures (in seconds)
Mission Param #3 Number of images to capture total - 0 for unlimited capture
Mission Param #4 Reserved
......
src/MissionManager/MavCmdInfoCommon.json
View file @ 25d43fd7
......@@ -974,7 +974,7 @@
"description": "Set camera photo, video, audio modes.",
"category": "Camera",
"param1": {
"label": "Camera id",
"label": "Rserved",
"default": 0,
"decimalPlaces": 0
},
......@@ -992,7 +992,7 @@
"description": "Start taking one or more photos.",
"category": "Camera",
"param1": {
"label": "Camera id",
"label": "Rserved",
"default": 0,
"decimalPlaces": 0
},
......@@ -1015,7 +1015,7 @@
"description": "Stop taking photos.",
"category": "Camera",
"param1": {
"label": "Camera id",
"label": "Rserved",
"default": 0,
"decimalPlaces": 0
}
......@@ -1028,7 +1028,7 @@
"description": "Start video capture.",
"category": "Camera",
"param1": {
"label": "Camera id",
"label": "Rserved",
"default": 0,
"decimalPlaces": 0
}
......@@ -1040,7 +1040,7 @@
"description": "Stop video capture.",
"category": "Camera",
"param1": {
"label": "Camera id",
"label": "Rserved",
"default": 0,
"decimalPlaces": 0
}
......
src/MissionManager/SurveyMissionItem.cc
View file @ 25d43fd7
......@@ -1150,7 +1150,7 @@ int SurveyMissionItem::_appendWaypointToMission(QList<MissionItem*>& items, int
item = new MissionItem(seqNum++,
MAV_CMD_IMAGE_START_CAPTURE,
MAV_FRAME_MISSION,
0, // Camera ID, all cameras
0, // Reserved (Set to 0)
0, // Interval (none)
1, // Take 1 photo
NAN, NAN, NAN, NAN, // param 4-7 reserved
......
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