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RC_Channel: add and use AP_CAMERA_ENABLED

This commit is contained in:
Peter Barker 2022-06-02 18:28:26 +10:00 committed by Peter Barker
parent 589bae7d66
commit ada65b6ad0
1 changed files with 6 additions and 0 deletions
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6
libraries/RC_Channel/RC_Channel.cpp
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@ -731,6 +731,7 @@ void RC_Channel::do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag)
#endif // !APM_BUILD_ArduPlane
}
#if AP_CAMERA_ENABLED
void RC_Channel::do_aux_function_camera_trigger(const AuxSwitchPos ch_flag)
{
AP_Camera *camera = AP::camera();
@ -741,6 +742,7 @@ void RC_Channel::do_aux_function_camera_trigger(const AuxSwitchPos ch_flag)
camera->take_picture();
}
}
#endif
void RC_Channel::do_aux_function_runcam_control(const AuxSwitchPos ch_flag)
{
@ -966,9 +968,11 @@ bool RC_Channel::run_aux_function(aux_func_t ch_option, AuxSwitchPos pos, AuxFun
bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch(ch_option) {
#if AP_CAMERA_ENABLED
case AUX_FUNC::CAMERA_TRIGGER:
do_aux_function_camera_trigger(ch_flag);
break;
#endif
case AUX_FUNC::FENCE:
do_aux_function_fence(ch_flag);
@ -1178,6 +1182,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
#endif // HAL_MINIMIZE_FEATURES
case AUX_FUNC::CAM_MODE_TOGGLE: {
#if AP_CAMERA_ENABLED
// Momentary switch to for cycling camera modes
AP_Camera *camera = AP_Camera::get_singleton();
if (camera == nullptr) {
@ -1194,6 +1199,7 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
camera->cam_mode_toggle();
break;
}
#endif
break;
}