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Sub: move common mavlink camera handling up

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This commit is contained in:
Peter Barker 2017-07-26 15:48:15 +10:00 committed by Francisco Ferreira
parent b4688bd3d4
commit 077f577e5c
2 changed files with 10 additions and 38 deletions
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47
ArduSub/GCS_Mavlink.cpp
View File

@ -1133,33 +1133,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
#if CAMERA == ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
sub.camera.configure(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6,
packet.param7);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_DIGICAM_CONTROL:
sub.camera.control(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
sub.camera.set_trigger_distance(packet.param1);
result = MAV_RESULT_ACCEPTED;
break;
#endif // CAMERA == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
sub.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@ -1556,17 +1529,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break;
#endif // AC_FENCE == ENABLED
#if CAMERA == ENABLED
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: // MAV ID: 202
break;
//deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
sub.camera.control_msg(msg);
break;
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // MAV ID: 204
@ -1704,6 +1666,15 @@ AP_GPS *GCS_MAVLINK_Sub::get_gps() const
return &sub.gps;
}
AP_Camera *GCS_MAVLINK_Sub::get_camera() const
{
#if CAMERA == ENABLED
return &sub.camera;
#else
return nullptr;
#endif
}
AP_ServoRelayEvents *GCS_MAVLINK_Sub::get_servorelayevents() const
{
return &sub.ServoRelayEvents;

1
ArduSub/GCS_Mavlink.h
View File

@ -17,6 +17,7 @@ protected:
Compass *get_compass() const override;
AP_Mission *get_mission() override;
AP_Rally *get_rally() const override;
AP_Camera *get_camera() const override;
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_GPS *get_gps() const override;