camera_server: Add CAMERA_FOV_STATUS request support#2898
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1. Added ability to set both camera position and attitude 2. Added support for sending CAMERA_FOV_STATUS when requested
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1. set_zoom_factor added to set camera zoom factor for fov calculation 2. set_field_of_fiew added as a fallback for cameras which do not expose zoom factor. 3. send_fov_status modified to calculate fov based on zoom factor if provided, or use field of view provided from set_field_of_view. Falls back to generic calculation if neither are provided.
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Let me know when it's tested and I should review and merge. |
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Will do |
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@jnomikos what's the status here? Still working on it? |
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Haven't had a chance to test it. The client who I was working on this for shifted priorities and I haven't had free time to fully test it out. I know the request process works but did not get a chance to test the other parts. I'm out on a client site all week, so realistically might be a week or two until I can get back to this PR. If you want to test in the meantime, feel free. |
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Adds CAMERA_FOV_STATUS support to MAVSDK camera_server plugin:
send_fov_statusfunctionality which gets called when a request forCAMERA_FOV_STATUSis received.set_positionwhich allows user to set camera position so thatCAMERA_FOV_STATUScan provide it.set_attitude_quaternionwhich allows user to set camera attitude quaternion so thatCAMERA_FOV_STATUScan provide it.set_zoom_factorwhich allows user to set the camera zoom factor, which is used in horizontal and vertical fov calculation insend_fov_status.set_field_of_viewas a fallback for users who cannot get zoom factor from their camera, or wish to provide their own calculated field of view. Lets user set horizontal and vertical fov directly.send_fov_statusfalls back to computing FOV from the camera information provided viaset_information(equivalent to 1x zoom) if neitherset_zoom_factornorset_field_of_viewhave been called.Design rationale:
Both the camera position and attitude are intentionally left to the caller to maintain separation between the camera_server and telemetry plugins.
Zoom factor and field of view are also intentionally written in such a way for users to manually set them because each camera can differ in implementation. This keeps the API flexible across different camera hardware implementations.
MAVSDK-Proto PR: mavlink/MAVSDK-Proto#414
Overall purpose:
CAMERA_FOV_STATUSsupport was added to QGroundControl so that the functionality which allows tapping on the video stream to move the gimbal is more robust and accounts for field of view. I have a MAVSDK camera server implementation on a payload and wish to provideCAMERA_FOV_STATUSto the ground control station. mavlink/qgroundcontrol#13612