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Sitl ap camera#32680

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TharakaUJ:SITL-AP-Camera
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Sitl ap camera#32680
TharakaUJ wants to merge 2 commits into
ArduPilot:masterfrom
TharakaUJ:SITL-AP-Camera

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@TharakaUJ TharakaUJ commented Apr 4, 2026 •
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Summary

Add a new SITL camera simulation object (SIM_Camera) similar to
existing payload simulations (e.g. sprayer and gripper). The camera
can be triggered via servo output or GPIO and logs image capture events.

Fixes #9396

Classification & Testing (check all that apply and add your own)

  • Checked by a human programmer
  • Non-functional change
  • No-binary change
  • Infrastructure change (e.g. unit tests, helper scripts)
  • Automated test(s) verify changes (e.g. unit test, autotest)
  • Tested manually, description below (e.g. SITL)
  • Tested on hardware
  • Logs attached
  • Logs available on request

Tested in SITL using ArduPlane.

Steps:

  • Build and run SITL
  • Verify camera parameters exist:
param show SIM_CAM_ENABLE
param show SIM_CAM_SRV_PIN
param show SIM_CAM_SRV_PWM
param show SIM_CAM_GPIO
  • Enable camera simulation:
param set SIM_CAM_ENABLE 1

Trigger via servo:

Assign a servo output to camera trigger

param set SERVO9_FUNCTION 0
param set SIM_CAM_SRV_PIN 9

Increase PWM above threshold (SIM_CAM_SRV_PWM)

servo set 9 1800
servo set 9 1000

Observe GCS output:
SITL: Camera image N

Trigger via GPIO:
Set GPIO pin using SIM_CAM_GPIO

param set SIM_CAM_GPIO 9
param set relay1_pin 9

Toggle the corresponding SITL GPIO bit

relay set 0 1
relay set 0 0

Verify image capture message is generated

SITL runs normally and camera trigger events are detected correctly.

Description

This PR introduces a new SIM_Camera object in the SITL framework of ArduPilot.

Features:
New SITL camera simulation class (SIM_Camera)
Enable/disable via SIM_CAM_ENABLE
Trigger mechanisms:

  • Servo-based trigger (SIM_CAM_TRIG_SRV, SIM_CAM_TRIG_PWM)
  • GPIO-based trigger (SIM_CAM_GPIO_PIN)
    Edge-triggered capture detection
    Logs image capture events to GCS

Notes:

  • This implementation provides a basic simulation framework for camera triggering in SITL.
  • It does not yet implement MAVLink camera commands or image generation, but establishes the structure for future extensions.

Edit:

  • I changed the parameter names later, changed the testing steps accordingly.
  • Addition to first camera you can test the second camera using same approach, but use the names prefixed with 'SIM_CAM2', ex:
param set SIM_CAM2_ENABLE 1

peterbarker
peterbarker requested changes Apr 4, 2026
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I like this idea.

Comment thread libraries/AP_HAL_SITL/SITL_State.cpp Outdated
@@ -54,6 +54,7 @@ void SITL_State::_sitl_setup()
#endif

sitl_model->set_buzzer(&_sitl->buzzer_sim);
sitl_model->set_camera(&_sitl->camera_sim);
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Please make this add_camera - we support multiple cameras in the main firmware, we should support it out here, too.

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@TharakaUJ TharakaUJ Apr 4, 2026

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I made the necessary changes. I wasn't sure about how many cameras to support. From what I saw from AP_Camera.h, added support for 2 cameras. Let me know if anytthing needs to be changed. Thanks!

Comment thread libraries/SITL/SIM_Aircraft.cpp Outdated
@@ -1106,6 +1106,11 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
{
external_payload_mass = 0;

// update camera
if (camera && camera->is_enabled()) {
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This should become iteration over an array.

Please note our fondness of continue in these loops when putting the enabled() check in

Comment thread libraries/SITL/SITL.cpp
@@ -655,6 +655,10 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
AP_SUBGROUPINFO(vicon, "VICON_", 56, SIM, ViconParms),
#endif // AP_SIM_VICON_ENABLED

// @Group: CAM_
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Suggested change
// @Group: CAM_
#if AP_SIM_CAM_ENABLED
// @Group: CAM_

add the define to SIM_config.h

Obviously add this everywhere :-)

@Hwurzburg Hwurzburg added the WikiNeeded needs wiki update label Apr 4, 2026
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TharakaUJ commented Apr 4, 2026

Updated to support multiple cameras using add_camera() and array iteration, with compile-time guards via AP_SIM_CAM_ENABLED.
Parameter support is currently implemented for up to 2 cameras, kind of followed the pattern in AP_Camera.h

Also added handling for when camera slots are full.
Thank you!

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TharakaUJ commented Apr 5, 2026

I'll fix the rest of the issues and push again.

TharakaUJ added 2 commits April 6, 2026 02:20
@TharakaUJ
AP_HAL_SITL: add camera simulation object
e16eadd 
Add a new SIM_Camera object to SITL, similar to existing Sprayer and
Gripper payload simulations.

The camera simulation can be enabled via SIM_CAM_ENABLE and supports
triggering image capture via:
 - servo output (TRIG_SRV + TRIG_PWM)
 - GPIO pin (GPIO)

When triggered, the camera increments an internal image counter and
sends a GCS message indicating capture.
@TharakaUJ
SITL: add camera simulation object
8045b0b 
Add a new SIM_Camera object to SITL, similar to existing Sprayer and
Gripper payload simulations.

The camera simulation can be enabled via SIM_CAM_ENABLE and supports
triggering image capture via:
 - servo output (TRIG_SRV + TRIG_PWM)
 - GPIO pin (GPIO)

When triggered, the camera increments an internal image counter and
sends a GCS message indicating capture.
@TharakaUJ TharakaUJ requested a review from peterbarker April 6, 2026 20:42
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SITL: AP_Camera object

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@TharakaUJ @peterbarker @Hwurzburg