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AP_Camera: make AP_Camera::control() return bool for picture trigger

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this allows a picture to be logged if it is requested
This commit is contained in:
Andrew Tridgell 2016-01-29 09:31:40 +11:00
parent 2099f40d89
commit dc998a2eaf
2 changed files with 7 additions and 2 deletions
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6
libraries/AP_Camera/AP_Camera.cpp
View File

@ -210,11 +210,14 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
GCS_MAVLINK::send_to_components(&msg);
}
void AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)
bool AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)
{
bool ret = false;
// take picture
if (is_equal(shooting_cmd,1.0f)) {
trigger_pic(false);
ret = true;
}
mavlink_message_t msg;
@ -234,6 +237,7 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
// send to all components
GCS_MAVLINK::send_to_components(&msg);
return ret;
}
/*

3
libraries/AP_Camera/AP_Camera.h
View File

@ -56,7 +56,8 @@ public:
// Command processing
void configure(float shooting_mode, float shutter_speed, float aperture, float ISO, float exposure_type, float cmd_id, float engine_cutoff_time);
void control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id);
// handle camera control. Return true if picture was triggered
bool control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id);
// set camera trigger distance in a mission
void set_trigger_distance(uint32_t distance_m) { _trigg_dist.set(distance_m); }