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AP_Mount: fix SiYi doesn't zoom continuously while manual zoom control #24639

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merged 1 commit into from
Aug 26, 2023
Merged

AP_Mount: fix SiYi doesn't zoom continuously while manual zoom control #24639

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82 changes: 51 additions & 31 deletions libraries/AP_Mount/AP_Mount_Siyi.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -699,14 +699,16 @@ float AP_Mount_Siyi::get_zoom_mult_max() const
// set zoom specified as a rate or percentage
bool AP_Mount_Siyi::set_zoom(ZoomType zoom_type, float zoom_value)
{
if (zoom_type == ZoomType::RATE) {
// disable absolute zoom target
_zoom_mult_target = 0;
return send_zoom_rate(zoom_value);
}

// absolute zoom
if (zoom_type == ZoomType::PCT) {
switch (zoom_type) {
case ZoomType::RATE:
if (send_zoom_rate(zoom_value)) {
_zoom_type = zoom_type;
_zoom_rate_target = zoom_value;
return true;
}
return false;
case ZoomType::PCT: {
// absolute zoom
float zoom_mult_max = get_zoom_mult_max();
if (is_positive(zoom_mult_max)) {
// convert zoom percentage (0~100) to target zoom multiple (e.g. 0~6x or 0~30x)
Expand All @@ -717,45 +719,63 @@ bool AP_Mount_Siyi::set_zoom(ZoomType zoom_type, float zoom_value)
return false;
case HardwareModel::A8:
// set internal zoom control target
_zoom_type = zoom_type;
_zoom_mult_target = zoom_mult;
return true;
case HardwareModel::ZR10:
return send_zoom_mult(zoom_mult);
if (send_zoom_mult(zoom_mult)) {
_zoom_type = zoom_type;
_zoom_mult_target = 0;
return true;
}
return false;
}
}
return false;
}
}

// unsupported zoom type
return false;
}

// update absolute zoom controller
// only used for A8 that does not support abs zoom control
// update zoom controller
void AP_Mount_Siyi::update_zoom_control()
{
// exit immediately if no target
if (!is_positive(_zoom_mult_target)) {
return;
}

// limit update rate to 20hz
const uint32_t now_ms = AP_HAL::millis();
if ((now_ms - _last_zoom_control_ms) <= 50) {
return;
}
_last_zoom_control_ms = now_ms;
const uint32_t update_diff_ms = now_ms - _last_zoom_control_ms;

// zoom towards target zoom multiple
if (_zoom_mult_target > _zoom_mult + 0.1f) {
send_zoom_rate(1);
} else if (_zoom_mult_target < _zoom_mult - 0.1f) {
send_zoom_rate(-1);
} else {
send_zoom_rate(0);
_zoom_mult_target = 0;
switch (_zoom_type) {
case ZoomType::RATE:
// limit updates to 1hz
if (update_diff_ms < 1000) {
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return;
}
// only send zoom rate target if it's non-zero because if zero it has already been sent
// and sending zero rate also triggers autofocus
if (!is_zero(_zoom_rate_target)) {
send_zoom_rate(_zoom_rate_target);
}
_last_zoom_control_ms = now_ms;
return;
case ZoomType::PCT:
// limit updates to 20hz and only when we have a zoom target
if (!is_positive(_zoom_mult_target) || (update_diff_ms < 50)) {
return;
}
// zoom towards target zoom multiple
if (_zoom_mult_target > _zoom_mult + 0.1f) {
send_zoom_rate(1);
} else if (_zoom_mult_target < _zoom_mult - 0.1f) {
send_zoom_rate(-1);
} else {
send_zoom_rate(0);
_zoom_mult_target = 0;
}
_last_zoom_control_ms = now_ms;
debug("Siyi zoom targ:%f act:%f", (double)_zoom_mult_target, (double)_zoom_mult);
break;
}

debug("Siyi zoom targ:%f act:%f", (double)_zoom_mult_target, (double)_zoom_mult);
}

// set focus specified as rate, percentage or auto
Expand Down
5 changes: 3 additions & 2 deletions libraries/AP_Mount/AP_Mount_Siyi.h
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Original file line number Diff line number Diff line change
Expand Up @@ -195,8 +195,7 @@ class AP_Mount_Siyi : public AP_Mount_Backend
// get zoom multiple max
float get_zoom_mult_max() const;

// update absolute zoom controller
// only used for A8 that does not support abs zoom control
// update zoom controller
void update_zoom_control();

// internal variables
Expand Down Expand Up @@ -238,6 +237,8 @@ class AP_Mount_Siyi : public AP_Mount_Backend
bool _last_record_video; // last record_video state sent to gimbal

// absolute zoom control. only used for A8 that does not support abs zoom control
ZoomType _zoom_type; // current zoom type
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float _zoom_rate_target; // current zoom rate target
float _zoom_mult_target; // current zoom multiple target. 0 if no target
float _zoom_mult; // most recent actual zoom multiple received from camera
uint32_t _last_zoom_control_ms; // system time that zoom control was last run
Expand Down