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AP_Mission: start-image-capture with all zeros takes single pic

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fails if no cameras configured
This commit is contained in:
Randy Mackay 2023-09-22 15:55:23 +09:00 committed by Andrew Tridgell
parent 999a3fe8d9
commit b08fa29574
1 changed files with 6 additions and 10 deletions
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16
libraries/AP_Mission/AP_Mission_Commands.cpp
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@ -163,32 +163,28 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
return false; return false;
case MAV_CMD_IMAGE_START_CAPTURE: case MAV_CMD_IMAGE_START_CAPTURE:
// check if this is a single picture request // check if this is a single picture request (e.g. total images is 1 or interval and total images are zero)
if (cmd.content.image_start_capture.total_num_images == 1) { if ((cmd.content.image_start_capture.total_num_images == 1) ||
(cmd.content.image_start_capture.total_num_images == 0 && is_zero(cmd.content.image_start_capture.interval_s))) {
if (cmd.content.image_start_capture.instance == 0) { if (cmd.content.image_start_capture.instance == 0) {
// take pictures for every backend // take pictures for every backend
camera->take_picture(); return camera->take_picture();
return true;
} }
return camera->take_picture(cmd.content.image_start_capture.instance-1); return camera->take_picture(cmd.content.image_start_capture.instance-1);
} else if (cmd.content.image_start_capture.total_num_images == 0) { } else if (cmd.content.image_start_capture.total_num_images == 0) {
// multiple picture request, take pictures forever // multiple picture request, take pictures forever
if (cmd.content.image_start_capture.instance == 0) { if (cmd.content.image_start_capture.instance == 0) {
// take pictures for every backend // take pictures for every backend
camera->take_multiple_pictures(cmd.content.image_start_capture.interval_s*1000, -1); return camera->take_multiple_pictures(cmd.content.image_start_capture.interval_s*1000, -1);
return true;
} }
return camera->take_multiple_pictures(cmd.content.image_start_capture.instance-1, cmd.content.image_start_capture.interval_s*1000, -1); return camera->take_multiple_pictures(cmd.content.image_start_capture.instance-1, cmd.content.image_start_capture.interval_s*1000, -1);
} else { } else {
if (cmd.content.image_start_capture.instance == 0) { if (cmd.content.image_start_capture.instance == 0) {
// take pictures for every backend // take pictures for every backend
camera->take_multiple_pictures(cmd.content.image_start_capture.interval_s*1000, cmd.content.image_start_capture.total_num_images); return camera->take_multiple_pictures(cmd.content.image_start_capture.interval_s*1000, cmd.content.image_start_capture.total_num_images);
return true;
} }
return camera->take_multiple_pictures(cmd.content.image_start_capture.instance-1, cmd.content.image_start_capture.interval_s*1000, cmd.content.image_start_capture.total_num_images); return camera->take_multiple_pictures(cmd.content.image_start_capture.instance-1, cmd.content.image_start_capture.interval_s*1000, cmd.content.image_start_capture.total_num_images);
} }
return false;
case MAV_CMD_IMAGE_STOP_CAPTURE: case MAV_CMD_IMAGE_STOP_CAPTURE:
if (cmd.p1 == 0) { if (cmd.p1 == 0) {
// stop capture for each backend // stop capture for each backend