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AP_Camera: don't use stale image number in CAMERA_FEEDBACK

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This commit is contained in:
Peter Barker 2021-10-18 09:46:40 +11:00 committed by Andrew Tridgell
parent 8f1c255693
commit 1835a63bfb
2 changed files with 4 additions and 1 deletions
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4
libraries/AP_Camera/AP_Camera.cpp
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@ -344,7 +344,8 @@ void AP_Camera::send_feedback(mavlink_channel_t chan) const
feedback.roll_sensor*1e-2f, feedback.roll_sensor*1e-2f,
feedback.pitch_sensor*1e-2f, feedback.pitch_sensor*1e-2f,
feedback.yaw_sensor*1e-2f, feedback.yaw_sensor*1e-2f,
0.0f, CAMERA_FEEDBACK_PHOTO, _camera_trigger_logged); 0.0f, CAMERA_FEEDBACK_PHOTO,
feedback.camera_trigger_logged);
} }
@ -508,6 +509,7 @@ void AP_Camera::prep_mavlink_msg_camera_feedback(uint64_t timestamp_us)
feedback.roll_sensor = ahrs.roll_sensor; feedback.roll_sensor = ahrs.roll_sensor;
feedback.pitch_sensor = ahrs.pitch_sensor; feedback.pitch_sensor = ahrs.pitch_sensor;
feedback.yaw_sensor = ahrs.yaw_sensor; feedback.yaw_sensor = ahrs.yaw_sensor;
feedback.camera_trigger_logged = _camera_trigger_logged;
gcs().send_message(MSG_CAMERA_FEEDBACK); gcs().send_message(MSG_CAMERA_FEEDBACK);
} }

1
libraries/AP_Camera/AP_Camera.h
View File

@ -123,6 +123,7 @@ private:
int32_t roll_sensor; int32_t roll_sensor;
int32_t pitch_sensor; int32_t pitch_sensor;
int32_t yaw_sensor; int32_t yaw_sensor;
uint32_t camera_trigger_logged; // ID sequence number
} feedback; } feedback;
void prep_mavlink_msg_camera_feedback(uint64_t timestamp_us); void prep_mavlink_msg_camera_feedback(uint64_t timestamp_us);