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AP_Mission: Added immediate trigger for DO_SET_CAM_TRIGG_DIST

This commit is contained in:
Gone4Dirt 2020-03-23 23:55:51 +00:00 committed by Andrew Tridgell
parent 824816ddcb
commit d813ee27de
3 changed files with 6 additions and 0 deletions
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2
libraries/AP_Mission/AP_Mission.cpp
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@ -941,6 +941,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
cmd.content.cam_trigg_dist.meters = packet.param1; // distance between camera shots in meters
cmd.content.cam_trigg_dist.trigger = packet.param3; // when enabled, camera triggers once immediately
break;
case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207
@ -1380,6 +1381,7 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
case MAV_CMD_DO_SET_CAM_TRIGG_DIST: // MAV ID: 206
packet.param1 = cmd.content.cam_trigg_dist.meters; // distance between camera shots in meters
packet.param3 = cmd.content.cam_trigg_dist.trigger; // when enabled, camera triggers once immediately
break;
case MAV_CMD_DO_FENCE_ENABLE: // MAV ID: 207

1
libraries/AP_Mission/AP_Mission.h
View File

@ -137,6 +137,7 @@ public:
// set cam trigger distance command structure
struct PACKED Cam_Trigg_Distance {
float meters; // distance
uint8_t trigger; // triggers one image capture immediately
};
// gripper command structure

3
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -102,6 +102,9 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera->set_trigger_distance(cmd.content.cam_trigg_dist.meters);
if (cmd.content.cam_trigg_dist.trigger == 1) {
camera->take_picture();
}
return true;
default: