From 2cff55189131ec62dbe915d4fe2d9bc97c21edf5 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Thu, 6 Dec 2012 23:48:30 +0900
Subject: [PATCH] ArduCopter: allow triggering of camera from a mission

---
 ArduCopter/commands_logic.pde | 8 ++++++++
 ArduCopter/control_modes.pde  | 2 +-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 7fb5619821..2ab431ba2f 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -112,6 +112,7 @@ static void process_now_command()
         break;
 
     case MAV_CMD_DO_DIGICAM_CONTROL:                    // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
+        do_take_picture();
         break;
 #endif
 
@@ -915,3 +916,10 @@ static void do_nav_roi()
     auto_yaw = get_bearing_cd(&current_loc, &target_WP);
 #endif
 }
+
+// do_take_picture - take a picture with the camera library
+static void do_take_picture()
+{
+    g.camera.trigger_pic();
+    Serial.print_P(PSTR("Camera!!"));
+}
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 594ec06b39..6a6d3ea9ac 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -145,7 +145,7 @@ static void read_trim_switch()
 #if CAMERA == ENABLED
         case CH7_CAMERA_TRIGGER:
             if(ap_system.CH7_flag) {
-                g.camera.trigger_pic();
+                do_take_picture();
             }
             break;
 #endif