Merge pull request #1585 from mavlink/pr-add-camera-distance-based-tr…

…iggering mission: add distance based triggering
mavlink · Oct 28, 2021 · 7fe301e · 7fe301e
2 parents 00290d6 + 108a51a
commit 7fe301e
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Showing 8 changed files with 134 additions and 59 deletions.
diff --git a/proto b/proto
diff --git a/src/integration_tests/mission.cpp b/src/integration_tests/mission.cpp
@@ -84,7 +84,7 @@ void test_mission(
     while (!telemetry->health_all_ok()) {
         LogInfo() << "Waiting for system to be ready";
         LogDebug() << "Health: " << telemetry->health();
-        std::this_thread::sleep_for(std::chrono::seconds(1));
+        std::this_thread::sleep_for(std::chrono::seconds(30));
     }
 
     LogInfo() << "System ready";
@@ -170,6 +170,32 @@ void test_mission(
             Mission::MissionItem::CameraAction::StopPhotoInterval,
             0.5f,
             NAN));
+
+        mission_plan.mission_items.push_back(add_mission_item(
+            47.393,
+            8.544,
+            10.0f,
+            5.0f,
+            false,
+            -45.0f,
+            -30.0f,
+            NAN,
+            Mission::MissionItem::CameraAction::StartPhotoDistance,
+            0.5f,
+            0.0f));
+
+        mission_plan.mission_items.push_back(add_mission_item(
+            47.395,
+            8.542,
+            10.0f,
+            5.0f,
+            false,
+            0.0f,
+            0.0f,
+            NAN,
+            Mission::MissionItem::CameraAction::StopPhotoDistance,
+            0.5f,
+            NAN));
     }
 
     mission->set_return_to_launch_after_mission(true);

diff --git a/src/mavsdk_server/src/generated/mission/mission.pb.cc b/src/mavsdk_server/src/generated/mission/mission.pb.cc
diff --git a/src/mavsdk_server/src/generated/mission/mission.pb.h b/src/mavsdk_server/src/generated/mission/mission.pb.h
diff --git a/src/mavsdk_server/src/plugins/mission/mission_service_impl.h b/src/mavsdk_server/src/plugins/mission/mission_service_impl.h
@@ -57,6 +57,10 @@ class MissionServiceImpl final : public rpc::mission::MissionService::Service {
                 return rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_START_VIDEO;
             case mavsdk::Mission::MissionItem::CameraAction::StopVideo:
                 return rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_STOP_VIDEO;
+            case mavsdk::Mission::MissionItem::CameraAction::StartPhotoDistance:
+                return rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_START_PHOTO_DISTANCE;
+            case mavsdk::Mission::MissionItem::CameraAction::StopPhotoDistance:
+                return rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_STOP_PHOTO_DISTANCE;
         }
     }
 
@@ -79,6 +83,10 @@ class MissionServiceImpl final : public rpc::mission::MissionService::Service {
                 return mavsdk::Mission::MissionItem::CameraAction::StartVideo;
             case rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_STOP_VIDEO:
                 return mavsdk::Mission::MissionItem::CameraAction::StopVideo;
+            case rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_START_PHOTO_DISTANCE:
+                return mavsdk::Mission::MissionItem::CameraAction::StartPhotoDistance;
+            case rpc::mission::MissionItem_CameraAction_CAMERA_ACTION_STOP_PHOTO_DISTANCE:
+                return mavsdk::Mission::MissionItem::CameraAction::StopPhotoDistance;
         }
     }
 

diff --git a/src/plugins/mission/include/plugins/mission/mission.h b/src/plugins/mission/include/plugins/mission/mission.h
@@ -75,6 +75,8 @@ class Mission : public PluginBase {
             StopPhotoInterval, /**< @brief Stop capturing photos at regular intervals. */
             StartVideo, /**< @brief Start capturing video. */
             StopVideo, /**< @brief Stop capturing video. */
+            StartPhotoDistance, /**< @brief Start capturing photos at regular distance. */
+            StopPhotoDistance, /**< @brief Stop capturing photos at regular distance. */
         };
 
         /**

diff --git a/src/plugins/mission/mission.cpp b/src/plugins/mission/mission.cpp
@@ -132,6 +132,10 @@ std::ostream& operator<<(std::ostream& str, Mission::MissionItem::CameraAction c
             return str << "Start Video";
         case Mission::MissionItem::CameraAction::StopVideo:
             return str << "Stop Video";
+        case Mission::MissionItem::CameraAction::StartPhotoDistance:
+            return str << "Start Photo Distance";
+        case Mission::MissionItem::CameraAction::StopPhotoDistance:
+            return str << "Stop Photo Distance";
         default:
             return str << "Unknown";
     }

diff --git a/src/plugins/mission/mission_impl.cpp b/src/plugins/mission/mission_impl.cpp
@@ -443,6 +443,18 @@ MissionImpl::convert_to_int_items(const std::vector<MissionItem>& mission_items)
                     command = MAV_CMD_VIDEO_STOP_CAPTURE;
                     param1 = 0.0f; // all camera IDs
                     break;
+                case CameraAction::StartPhotoDistance:
+                    command = MAV_CMD_DO_TRIGGER_CONTROL;
+                    param1 = 1.0f; // enable
+                    param2 = 0.0f; // don't reset
+                    param3 = -1.0f; // don't pause
+                    break;
+                case CameraAction::StopPhotoDistance:
+                    command = MAV_CMD_DO_TRIGGER_CONTROL;
+                    param1 = 0.0f; // disable
+                    param2 = 0.0f; // don't reset
+                    param3 = -1.0f; // don't pause
+                    break;
                 default:
                     LogErr() << "Error: camera action not supported";
                     break;
@@ -609,6 +621,17 @@ std::pair<Mission::Result, Mission::MissionPlan> MissionImpl::convert_to_result_
             } else if (int_item.command == MAV_CMD_VIDEO_STOP_CAPTURE) {
                 new_mission_item.camera_action = CameraAction::StopVideo;
 
+            } else if (int_item.command == MAV_CMD_DO_TRIGGER_CONTROL) {
+                if (static_cast<int>(int_item.param1) == 1) {
+                    new_mission_item.camera_action = CameraAction::StartPhotoDistance;
+                } else if (static_cast<int>(int_item.param1) == 0) {
+                    new_mission_item.camera_action = CameraAction::StopPhotoDistance;
+                } else {
+                    LogWarn() << "Unknown trigger control mission item ignored";
+                    result_pair.first = Mission::Result::Unsupported;
+                    break;
+                }
+
             } else if (int_item.command == MAV_CMD_DO_CHANGE_SPEED) {
                 if (int(int_item.param1) == 1 && int_item.param3 < 0 && int(int_item.param4) == 0) {
                     new_mission_item.speed_m_s = int_item.param2;