Added classes and settings for supporting the new ThriftiestOV9281 Ca…

photon-core/src/main/java/org/photonvision/vision/camera/CameraQuirk.java

@@ -52,4 +52,6 @@ public enum CameraQuirk {
     ArduOV9782,
     /** Camera has odd exposure range, and supports gain control */
     See3Cam_24CUG,
+    /** Thrifty OV9281 */
+    ThriftyOV9281Controls,
 }

photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java

@@ -87,7 +87,9 @@ public class QuirkyCamera {
                             CameraQuirk.ArduOV9782Controls),
                     // Innomaker OV9281
                     new QuirkyCamera(
-                            0x0c45, 0x636d, "USB Camera", "Innomaker OV9281", CameraQuirk.InnoOV9281Controls));
+                            0x0c45, 0x636d, "USB Camera", "Innomaker OV9281", CameraQuirk.InnoOV9281Controls),
+                    // Thrifty OV9281
+                    new QuirkyCamera(0x1BCF, 0x28C5, CameraQuirk.ThriftyOV9281Controls, CameraQuirk.Gain));
 
     public static final QuirkyCamera DefaultCamera = new QuirkyCamera(0, 0, "");
     public static final QuirkyCamera ZeroCopyPiCamera =

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/ThriftyOV9281CameraSettables.java

@@ -0,0 +1,76 @@
+/*
+ * Copyright (C) Photon Vision.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ */
+
+package org.photonvision.vision.camera.USBCameras;
+
+import org.photonvision.common.configuration.CameraConfiguration;
+import org.wpilib.util.PixelFormat;
+import org.wpilib.vision.camera.UsbCamera;
+
+public class ThriftyOV9281CameraSettables extends GenericUSBCameraSettables {
+
+    public ThriftyOV9281CameraSettables(CameraConfiguration configuration, UsbCamera camera) {
+        super(configuration, camera);
+    }
+
+    @Override
+    protected void setUpExposureProperties() {
+        super.setUpExposureProperties();
+
+        // Fix the exposure lower and upper limits.
+        // The minimum usable exposure is above the UI default of 20, so
+        // the user is expected to increase exposure until the camera can
+        // pick up an image correctly.
+        this.minExposure = 1;
+        this.maxExposure = 2400;
+    }
+
+    @Override
+    public void onCameraConnected() {
+        super.onCameraConnected();
+
+        // Filter out YUYV modes. The Sunplus SPCA2688 ISP's MJPEG encoder
+        // breaks permanently if a YUYV↔MJPEG format switch occurs.
+        // Only MJPEG modes (120fps) are usable; YUYV modes are 5-30fps anyway.
+        int originalSize = videoModes.size();
+        videoModes.removeIf(m -> m.pixelFormat != PixelFormat.MJPEG);
+        if (videoModes.size() < originalSize) {
+            logger.info("Filtered to " + videoModes.size() + " MJPEG-only modes (YUYV removed)");
+        }
+    }
+
+    @Override
+    public void setAllCamDefaults() {
+        // Disable continuous autofocus BEFORE super tries to set focus_absolute
+        softSet("focus_automatic_continuous", 0);
+        super.setAllCamDefaults();
+        logger.info("Setting All Cam Defaults :: ThriftyOV9281");
+        softSet("focus_absolute", 0);
+    }
+
+    @Override
+    public void setAutoExposureImpl(boolean cameraAutoExposure) {
+        logger.debug("Setting auto exposure :: ThriftyOV9281 :: " + cameraAutoExposure);
+        if (autoExposureProp != null) {
+            autoExposureProp.set(
+                    cameraAutoExposure ? PROP_AUTO_EXPOSURE_ENABLED : PROP_AUTO_EXPOSURE_DISABLED);
+        }
+        if (!cameraAutoExposure) {
+            setExposureRaw(this.lastExposureRaw);
+        }
+    }
+}

photon-core/src/main/java/org/photonvision/vision/camera/USBCameras/USBCameraSource.java

@@ -150,6 +150,9 @@ protected GenericUSBCameraSettables createSettables(
             settables = new InnoOV9281CameraSettables(config, camera);
         } else if (quirks.hasQuirk(CameraQuirk.See3Cam_24CUG)) {
             settables = new See3Cam24CUGSettables(config, camera);
+        } else if (quirks.hasQuirk(CameraQuirk.ThriftyOV9281Controls)) {
+            logger.debug("Using Thrifty OV9281 Settables");
+            settables = new ThriftyOV9281CameraSettables(config, camera);
         } else {
             logger.debug("Using Generic USB Cam Settables");
             settables = new GenericUSBCameraSettables(config, camera);