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Camera: mission cmds send do-digicam msgs to components 

This allows digicam-control and digicam-configure mission
command to trigger sending the equivalent mavlink messages
to components
This commit is contained in:
Randy Mackay 2015-04-18 22:30:03 +09:00
parent 8dcd555037
commit 4eb3263653
2 changed files with 34 additions and 0 deletions
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29
libraries/AP_Camera/AP_Camera.cpp
View File

@ -169,6 +169,35 @@ AP_Camera::control_msg(mavlink_message_t* msg)
}
}
// Mission command processing
void AP_Camera::configure_cmd(AP_Mission::Mission_Command& cmd)
{
mavlink_mission_item_t mav_cmd = {};
// convert command to mavlink message
if (AP_Mission::mission_cmd_to_mavlink(cmd, mav_cmd)) {
// convert mission item to mavlink message
// convert mission item to mavlink message
mavlink_message_t msg;
mavlink_msg_mission_item_encode(0, 0, &msg, &mav_cmd);
// send to all components
GCS_MAVLINK::send_to_components(&msg);
}
}
void AP_Camera::control_cmd(AP_Mission::Mission_Command& cmd)
{
mavlink_mission_item_t mav_cmd = {};
// convert command to mavlink mission item
if (AP_Mission::mission_cmd_to_mavlink(cmd, mav_cmd)) {
// convert mission item to mavlink message
mavlink_message_t msg;
mavlink_msg_mission_item_encode(0, 0, &msg, &mav_cmd);
// send to all components
GCS_MAVLINK::send_to_components(&msg);
}
}
/*
Send camera feedback to the GCS

5
libraries/AP_Camera/AP_Camera.h
View File

@ -13,6 +13,7 @@
#include <AP_Relay.h>
#include <AP_GPS.h>
#include <AP_AHRS.h>
#include <AP_Mission.h>
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
@ -52,6 +53,10 @@ public:
void control_msg(mavlink_message_t* msg);
void send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS &ahrs, const Location &current_loc);
// Mission command processing
void configure_cmd(AP_Mission::Mission_Command& cmd);
void control_cmd(AP_Mission::Mission_Command& cmd);
// set camera trigger distance in a mission
void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); }