AP_Camera: add CAMx_OPTION support for start/stop recording when arm/…

…disarm
ArduPilot · Jul 2, 2023 · bf03688 · bf03688
1 parent 670873d
commit bf03688
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Showing 7 changed files with 33 additions and 2 deletions.
diff --git a/libraries/AP_Camera/AP_Camera_Backend.cpp b/libraries/AP_Camera/AP_Camera_Backend.cpp
@@ -3,6 +3,7 @@
 #if AP_CAMERA_ENABLED
 #include <GCS_MAVLink/GCS.h>
 #include <AP_GPS/AP_GPS.h>
+#include <AP_DAL/AP_DAL.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -16,6 +17,12 @@ AP_Camera_Backend::AP_Camera_Backend(AP_Camera &frontend, AP_Camera_Params &para
 // update - should be called at 50hz
 void AP_Camera_Backend::update()
 {
+    if (_params.options == 1 && AP::dal().get_armed()) {
+        this->record_video(true);
+    } else if (_params.options == 1 && !AP::dal().get_armed()) {
+        this->record_video(false);
+    }
+
     // try to take picture if pending
     if (trigger_pending) {
         take_picture();

diff --git a/libraries/AP_Camera/AP_Camera_Backend.h b/libraries/AP_Camera/AP_Camera_Backend.h
@@ -138,6 +138,7 @@ class AP_Camera_Backend
     uint32_t last_photo_time_ms;    // system time that photo was last taken
     Location last_location;         // Location that last picture was taken at (used for trigg_dist calculation)
     uint16_t image_index;           // number of pictures taken since boot
+    bool is_recording = false;      // true if recording is on
 };
 
 #endif // AP_CAMERA_ENABLED
diff --git a/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp b/libraries/AP_Camera/AP_Camera_MAVLinkCamV2.cpp
@@ -47,6 +47,10 @@ bool AP_Camera_MAVLinkCamV2::record_video(bool start_recording)
         return false;
     }
 
+    if ((start_recording & is_recording) == 1U) {
+        return false;
+    }
+
     // prepare and send message
     mavlink_command_long_t pkt {};
 
@@ -60,7 +64,7 @@ bool AP_Camera_MAVLinkCamV2::record_video(bool start_recording)
     }
 
     _link->send_message(MAVLINK_MSG_ID_COMMAND_LONG, (const char*)&pkt);
-
+    is_recording = start_recording;
     return true;
 }
 

diff --git a/libraries/AP_Camera/AP_Camera_Mount.cpp b/libraries/AP_Camera/AP_Camera_Mount.cpp
@@ -20,9 +20,16 @@ bool AP_Camera_Mount::trigger_pic()
 // start_recording should be true to start recording, false to stop recording
 bool AP_Camera_Mount::record_video(bool start_recording)
 {
+    if ((start_recording & is_recording) == 1U) {
+        return false;
+    }
+
     AP_Mount* mount = AP::mount();
     if (mount != nullptr) {
-        return mount->record_video(0, start_recording);
+        if (mount->record_video(0, start_recording)) {
+            is_recording = start_recording;
+            return true;
+        }
     }
     return false;
 }

diff --git a/libraries/AP_Camera/AP_Camera_Params.cpp b/libraries/AP_Camera/AP_Camera_Params.cpp
@@ -74,6 +74,13 @@ const AP_Param::GroupInfo AP_Camera_Params::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("_FEEDBAK_POL", 9, AP_Camera_Params, feedback_polarity, 1),
 
+    // @Param: _OPTIONS
+    // @DisplayName: Camera options
+    // @Description: Camera options bitmask
+    // @Values: 0:None,1: Recording Starts at arming and stops at disarming
+    // @User: Standard
+    AP_GROUPINFO("_OPTIONS", 10, AP_Camera_Params, options, 0),
+
     AP_GROUPEND
 
 };

diff --git a/libraries/AP_Camera/AP_Camera_Params.h b/libraries/AP_Camera/AP_Camera_Params.h
@@ -21,6 +21,7 @@ class AP_Camera_Params {
     AP_Float trigg_dist;        // distance between trigger points (meters)
     AP_Int8 relay_on;           // relay value to trigger camera
     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
 
     // pin number for accurate camera feedback messages
     AP_Int8 feedback_pin;

diff --git a/libraries/AP_Camera/AP_Camera_Scripting.cpp b/libraries/AP_Camera/AP_Camera_Scripting.cpp
@@ -16,7 +16,11 @@ bool AP_Camera_Scripting::trigger_pic()
 // set start_recording = true to start record, false to stop recording
 bool AP_Camera_Scripting::record_video(bool start_recording)
 {
+    if ((start_recording & is_recording) == 1U) {
+        return false;
+    }
     _cam_state.recording_video = start_recording;
+    is_recording = start_recording;
     return true;
 }