AP_Mount: XFRobot pic-in-pic switch

[Ferruccio1984]

Adds capability of toggling between pic-in-pic modes using camera lens auxiliary function.
Tested on XF-Robot Z-2 micro gimbal

[rmackay9]

Hi @Ferruccio1984,

Thanks very much for this! Could you update the commit title to start with "AP_Mount:" and put "XFRobot" in there somewhere too? This will help make backporting easy and we do it for all commits. Just to be clear, I mean the commit title, not the PR title.

Thanks!

[rmackay9]

Hi @Ferruccio1984,

I've checked the API and it seems that the PIC_IN_PIC command might accept the desired pic-in-pic mode.

I wonder if you've tried setting the "param" argument to values besides 0x00 to see what happens? For example perhaps "1" is RGB, "2" is IR and 3 is Picture-in-picture?

[peterbarker]

Ping @Ferruccio1984 - answer requested.

[rmackay9]

Hi @peterbarker,

Sorry, I talked with @Ferruccio1984 offline and he's looking into this I think

[Ferruccio1984]

Hi @peterbarker , been working on it and talking to @rmackay9 on Discord. Will update the pr soon. Thank you!