AP_Mission: add MAV_CMD_IMAGE_STOP_CAPTURE support

Co-authored-by: Zachary Zalass <[email protected]>
ArduPilot · Sep 20, 2023 · 52128b8 · 52128b8
1 parent aa91d04
commit 52128b8
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diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
@@ -378,6 +378,7 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
     case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW:
     case MAV_CMD_JUMP_TAG:
     case MAV_CMD_IMAGE_START_CAPTURE:
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
     case MAV_CMD_SET_CAMERA_ZOOM:
     case MAV_CMD_SET_CAMERA_FOCUS:
     case MAV_CMD_VIDEO_START_CAPTURE:
@@ -422,6 +423,7 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
     case MAV_CMD_DO_DIGICAM_CONTROL:
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
     case MAV_CMD_IMAGE_START_CAPTURE:
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
     case MAV_CMD_SET_CAMERA_ZOOM:
     case MAV_CMD_SET_CAMERA_FOCUS:
     case MAV_CMD_VIDEO_START_CAPTURE:
@@ -1318,6 +1320,10 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         cmd.content.image_start_capture.start_seq_number = packet.param4;
         break;
 
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
+        cmd.p1 = packet.param1;
+        break;
+
     case MAV_CMD_SET_CAMERA_ZOOM:
         cmd.content.set_camera_zoom.zoom_type = packet.param1;
         cmd.content.set_camera_zoom.zoom_value = packet.param2;
@@ -1814,6 +1820,10 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         packet.param4 = cmd.content.image_start_capture.start_seq_number;
         break;
 
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
+        packet.param1 = cmd.p1;
+        break;
+
     case MAV_CMD_SET_CAMERA_ZOOM:
         packet.param1 = cmd.content.set_camera_zoom.zoom_type;
         packet.param2 = cmd.content.set_camera_zoom.zoom_value;
@@ -2637,6 +2647,8 @@ const char *AP_Mission::Mission_Command::type() const
         return "GimbalPitchYaw";
     case MAV_CMD_IMAGE_START_CAPTURE:
         return "ImageStartCapture";
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
+        return "ImageStopCapture";
     case MAV_CMD_SET_CAMERA_ZOOM:
         return "SetCameraZoom";
     case MAV_CMD_SET_CAMERA_FOCUS:

diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -189,6 +189,14 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
         }
         return false;
 
+    case MAV_CMD_IMAGE_STOP_CAPTURE:
+        if (cmd.p1 == 0) {
+            // stop capture for each backend
+            camera->stop_capture();
+            return true;
+        }
+        return camera->stop_capture(cmd.p1);
+
     case MAV_CMD_VIDEO_START_CAPTURE:
     case MAV_CMD_VIDEO_STOP_CAPTURE:
     {