Merge pull request #4545 from dogmaphobic/videoPhotoTesting

Experimenting with Video / Photo commands

src/uas/UAS.cc

@@ -1209,15 +1209,47 @@ void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll
 */
 void UAS::pairRX(int rxType, int rxSubType)
 {
-    if (!_vehicle) {
-        return;
+    if (_vehicle) {
+        _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
+                                 MAV_CMD_START_RX_PAIR,             // command id
+                                 true,                              // showError
+                                 rxType,
+                                 rxSubType);
     }
+}
 
-    _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
-                             MAV_CMD_START_RX_PAIR,             // command id
-                             true,                              // showError
-                             rxType,
-                             rxSubType);
+/**
+* Order the robot to take a picture (Testing -- Incomplete API)
+*/
+void UAS::takePhoto()
+{
+    if (_vehicle) {
+        _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
+                                 MAV_CMD_IMAGE_START_CAPTURE,       // command id
+                                 true,                              // showError
+                                 0,                                 // Duration between two consecutive pictures (in seconds)
+                                 1,                                 // Number of images to capture total - 0 for unlimited capture
+                                 0,                                 // Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc), set to 0 if param 4/5 are used
+                                 1920,                              // Resolution horizontal in pixels
+                                 1080);                             // Resolution horizontal in pixels
+    }
+}
+
+/**
+* Order the robot to toggle video recording (Testing -- Incomplete API)
+*/
+void UAS::toggleVideo()
+{
+    if (_vehicle) {
+        _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // 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.
+                                 60,                                // Frames per second
+                                 0,                                 // Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc), set to 0 if param 4/5 are used
+                                 1920,                              // Resolution horizontal in pixels
+                                 1080);                             // Resolution horizontal in pixels
+    }
 }
 
 /**

src/uas/UAS.h

@@ -262,6 +262,10 @@ public:
 public slots:
     /** @brief Order the robot to pair its receiver **/
     void pairRX(int rxType, int rxSubType);
+    /** @brief Order the robot to take a picture **/
+    void takePhoto();
+    /** @brief Order the robot to toggle video recording **/
+    void toggleVideo();
 
     /** @brief Enable / disable HIL */
 #ifndef __mobile__

src/uas/UASInterface.h

@@ -137,6 +137,10 @@ public:
 public slots:
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;
+    /** @brief Order the robot to take a picture **/
+    virtual void takePhoto() {}
+    /** @brief Order the robot to toggle video recording **/
+    virtual void toggleVideo() {}
 
     /** @brief Send the full HIL state to the MAV */
 #ifndef __mobile__