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Plane: append MOUNT_STATUS message to STREAM_EXTRA3 messages

This commit is contained in:
Arthur Benemann 2014-11-14 09:33:49 -08:00 committed by Randy Mackay
parent 9b5684d007
commit 9ae443f2a2
1 changed files with 8 additions and 6 deletions
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14
ArduPlane/GCS_Mavlink.pde
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@ -636,6 +636,13 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
gcs[chan-MAVLINK_COMM_0].send_ahrs2(ahrs); gcs[chan-MAVLINK_COMM_0].send_ahrs2(ahrs);
break; break;
case MSG_MOUNT_STATUS:
#if MOUNT == ENABLED
CHECK_PAYLOAD_SIZE(MOUNT_STATUS);
camera_mount.status_msg(chan);
#endif // MOUNT == ENABLED
break;
case MSG_HWSTATUS: case MSG_HWSTATUS:
CHECK_PAYLOAD_SIZE(HWSTATUS); CHECK_PAYLOAD_SIZE(HWSTATUS);
send_hwstatus(chan); send_hwstatus(chan);
@ -898,6 +905,7 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_WIND); send_message(MSG_WIND);
send_message(MSG_RANGEFINDER); send_message(MSG_RANGEFINDER);
send_message(MSG_SYSTEM_TIME); send_message(MSG_SYSTEM_TIME);
send_message(MSG_MOUNT_STATUS);
#if AP_TERRAIN_AVAILABLE #if AP_TERRAIN_AVAILABLE
send_message(MSG_TERRAIN); send_message(MSG_TERRAIN);
#endif #endif
@ -1490,12 +1498,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
camera_mount.control_msg(msg); camera_mount.control_msg(msg);
break; break;
} }
case MAVLINK_MSG_ID_MOUNT_STATUS:
{
camera_mount.status_msg(msg, chan);
break;
}
#endif // MOUNT == ENABLED #endif // MOUNT == ENABLED
case MAVLINK_MSG_ID_RADIO: case MAVLINK_MSG_ID_RADIO: