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camera_manager: mavlink update #1057

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merged 3 commits into from
Oct 10, 2024
Merged

camera_manager: mavlink update #1057

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eb03f87
camera_manager: mavlink update
julianoes Oct 10, 2024
b4c55d8
CI: try newer gtest on macOS
julianoes Oct 10, 2024
bb41da6
CI: remove SITL tests
julianoes Oct 10, 2024
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2 changes: 1 addition & 1 deletion .github/workflows/build_test_macos.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ jobs:
- name: Before Install
run: |
brew update;
git clone -b release-1.10.0 https://github.com/google/googletest
git clone -b v1.15.2 https://github.com/google/googletest
git clone https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink
- name: Install
run: |
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87 changes: 0 additions & 87 deletions .github/workflows/firmware_build_test.yml
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15 changes: 9 additions & 6 deletions src/gazebo_camera_manager_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -657,7 +657,8 @@ void CameraManagerPlugin::_handle_request_camera_settings(const mavlink_message_
0, // time_boot_ms
_mode, // Camera Mode
1.0E2 * (_zoom - 1.0)/ (_maxZoom - 1.0), // Zoom level
NAN); // Focus level
NAN, // Focus level
0); // MAVLink camera with its own component ID
_send_mavlink_message(&msg, srcaddr);
}

Expand All @@ -678,18 +679,19 @@ void CameraManagerPlugin::_handle_request_video_stream_status(const mavlink_mess
mavlink_message_t msg;
mavlink_msg_video_stream_status_pack_chan(
_systemID,
_componentID, // Component ID
_componentID, // Component ID
MAVLINK_COMM_1,
&msg,
static_cast<uint8_t>(sid), // Stream ID
VIDEO_STREAM_STATUS_FLAGS_RUNNING, // Flags (It's always running)
30, // Frame rate
_width, // Horizontal resolution
_width, // Horizontal resolution
_height, // Vertical resolution
2048, // Bit rate (made up)
0, // Rotation (none)
90 // FOV (made up)
);
90, // FOV (made up)
0); // MAVLink camera with its own component ID

_send_mavlink_message(&msg, srcaddr);
}

Expand Down Expand Up @@ -801,7 +803,8 @@ void CameraManagerPlugin::_send_capture_status(struct sockaddr* srcaddr)
interval, // image interval
recording_time_ms, // recording time in ms
available_mib, // available storage capacity
_imageCounter); // total number of images
_imageCounter, // total number of images
0); // MAVLink camera with its own component ID
_send_mavlink_message(&msg, srcaddr);
}

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