mirror of https://github.com/ArduPilot/ardupilot
ArduPlane: log a picture if AP_Camera::control() returns true
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@ -1202,13 +1202,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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break;
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case MAV_CMD_DO_DIGICAM_CONTROL:
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plane.camera.control(packet.param1,
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packet.param2,
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packet.param3,
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packet.param4,
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packet.param5,
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packet.param6);
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if (plane.camera.control(packet.param1,
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packet.param2,
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packet.param3,
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packet.param4,
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packet.param5,
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packet.param6)) {
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plane.log_picture();
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}
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result = MAV_RESULT_ACCEPTED;
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break;
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#endif // CAMERA == ENABLED
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@ -923,13 +923,14 @@ void Plane::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
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void Plane::do_digicam_control(const AP_Mission::Mission_Command& cmd)
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{
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#if CAMERA == ENABLED
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camera.control(cmd.content.digicam_control.session,
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cmd.content.digicam_control.zoom_pos,
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cmd.content.digicam_control.zoom_step,
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cmd.content.digicam_control.focus_lock,
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cmd.content.digicam_control.shooting_cmd,
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cmd.content.digicam_control.cmd_id);
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log_picture();
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if (camera.control(cmd.content.digicam_control.session,
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cmd.content.digicam_control.zoom_pos,
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cmd.content.digicam_control.zoom_step,
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cmd.content.digicam_control.focus_lock,
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cmd.content.digicam_control.shooting_cmd,
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cmd.content.digicam_control.cmd_id)) {
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log_picture();
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}
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#endif
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}
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