Merge pull request dji-sdk#444 from DJI-Colin/match_wp2_CameraActuato…

…rFocusParam

Match wp2 camera actuator focus param

msg/WaypointV2CameraActuatorFocusParam.msg

@@ -4,7 +4,9 @@
 # out area if the focus assistant is enabled for the manual mode.
 #  The range for x and y is from 0.0 to 1.0. The point [0.0, 0.0] represents the top-left angle of the screen.
 
-  uint16 x # x axis focus point value.range: [0,10000]
-  uint16 y # y axis focus point value.range: [0,10000]
-  uint8 retryTimes = 1
-  uint8 focusDelayTime = 0
+  float32 x # x axis focus point value.range: [0,1]
+  float32 y # y axis focus point value.range: [0,1]
+  uint8 regionType #focus type:0:point focus,1:rectangle focus
+  float32 width #Normalized focus area width(0,1)
+  float32 height # Normalized focus area height(0,1)
+  uint8 retryTimes = 1

msg/WaypointV2GimbalActuatorRotationParam.msg

@@ -1,5 +1,5 @@
-  int16 x             # gimbal roll angle,  unit: 0.1 deg,range:[-200, 200]*/
-  int16 y             # gimbal pitch angle, unit: 0.1 deg,range:[-1300, 1300]*/
+  int16 x             # gimbal roll angle,  unit: 0.1 deg,range:[-3600, 3600]*/
+  int16 y             # gimbal pitch angle, unit: 0.1 deg,range:[-3600, 3600]*/
   int16 z             # gimbal yaw angle,   unit: 0.1 deg,range:[-3600, 3600]*/
   uint8 ctrl_mode     # 0: absolute position control, 1:relative position control*/
   uint8 rollCmdIgnore # 0: roll command normal,  1: roll command ignore*/

src/dji_osdk_ros/modules/dji_vehicle_node_mission_services.cpp

@@ -797,8 +797,10 @@ bool VehicleNode::waypointV2GenerateActionsCallback(
             DJI::OSDK::DJIWaypointV2CameraFocusParam focusParam;
             focusParam.focusTarget.x = request.actions[i].waypointV2CameraActuator.focusParam.x;
             focusParam.focusTarget.y = request.actions[i].waypointV2CameraActuator.focusParam.y;
+            focusParam.regionType = request.actions[i].waypointV2CameraActuator.focusParam.regionType;
+            focusParam.width = request.actions[i].waypointV2CameraActuator.focusParam.width;
+            focusParam.height = request.actions[i].waypointV2CameraActuator.focusParam.height;
             focusParam.retryTimes = request.actions[i].waypointV2CameraActuator.focusParam.retryTimes;
-            focusParam.focusDelayTime = request.actions[i].waypointV2CameraActuator.focusParam.focusDelayTime;
             cameraActuatorParam = new DJI::OSDK::DJIWaypointV2CameraActuatorParam(DJI::OSDK::DJIWaypointV2ActionActuatorCameraOperationTypeFocus, &focusParam);
          }
          else if(request.actions[i].waypointV2CameraActuator.DJIWaypointV2ActionActuatorCameraOperationType ==