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AP_Camera: add handle_command_long

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This commit is contained in:
Randy Mackay 2023-03-07 15:39:52 +09:00
parent 3bc42b888f
commit 9ccf08a0f8
2 changed files with 22 additions and 0 deletions
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21
libraries/AP_Camera/AP_Camera.cpp
View File

@ -204,6 +204,27 @@ void AP_Camera::handle_message(mavlink_channel_t chan, const mavlink_message_t &
}
}
// handle command_long mavlink messages
MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
{
switch (packet.command) {
case MAV_CMD_DO_DIGICAM_CONFIGURE:
configure(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6, packet.param7);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_DIGICAM_CONTROL:
control(packet.param1, packet.param2, packet.param3, packet.param4, packet.param5, packet.param6);
return MAV_RESULT_ACCEPTED;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
set_trigger_distance(packet.param1);
if (is_equal(packet.param3, 1.0f)) {
take_picture();
}
return MAV_RESULT_ACCEPTED;
default:
return MAV_RESULT_UNSUPPORTED;
}
}
// set camera trigger distance in a mission
void AP_Camera::set_trigger_distance(uint8_t instance, float distance_m)
{

1
libraries/AP_Camera/AP_Camera.h
View File

@ -73,6 +73,7 @@ public:
// MAVLink methods
void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg);
MAV_RESULT handle_command_long(const mavlink_command_long_t &packet);
void send_feedback(mavlink_channel_t chan) const;
// configure camera