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AP_Camera: changed update_location() to return true for camera trigger

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Makes the main vehicle code responsible for taking a photo so logging can occur
This commit is contained in:
Craig@3DR 2013-07-09 15:31:25 -07:00 committed by Andrew Tridgell
parent 7fa1fe8590
commit f5154d9e7a
2 changed files with 14 additions and 9 deletions
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18
libraries/AP_Camera/AP_Camera.cpp
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@ -216,24 +216,28 @@ AP_Camera::control_msg(mavlink_message_t* msg)
}
// update location, for triggering by GPS distance moved
void AP_Camera::update_location(const struct Location &loc)
/* update location, for triggering by GPS distance moved
This function returns true if a picture should be taken
The caller is responsible for taking the picture based on the return value of this function.
The caller is also responsible for logging the details about the photo
*/
bool AP_Camera::update_location(const struct Location &loc)
{
if (_trigg_dist == 0.0f) {
return;
return false;
}
if (_last_location.lat == 0 && _last_location.lng == 0) {
_last_location = loc;
return;
return false;
}
if (_last_location.lat == loc.lat && _last_location.lng == loc.lng) {
// we haven't moved - this can happen as update_location() may
// be called without a new GPS fix
return;
return false;
}
if (get_distance(&loc, &_last_location) < _trigg_dist) {
return;
return false;
}
_last_location = loc;
trigger_pic();
return true;
}

3
libraries/AP_Camera/AP_Camera.h
View File

@ -54,7 +54,8 @@ public:
void configure_msg(mavlink_message_t* msg);
void control_msg(mavlink_message_t* msg);
void update_location(const struct Location &loc);
// Update location of vehicle and return true if a picture should be taken
bool update_location(const struct Location &loc);
static const struct AP_Param::GroupInfo var_info[];