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Copter: Support do_digicam_x via command_long

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squilter 2015-09-06 16:43:13 -04:00 committed by Randy Mackay
parent bc06d67645
commit 30ed2508d6
2 changed files with 39 additions and 2 deletions
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26
ArduCopter/GCS_Mavlink.cpp
View File

@ -1263,6 +1263,30 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
#if CAMERA == ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
copter.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:
copter.camera.control(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6);
result = MAV_RESULT_ACCEPTED;
break;
#endif // CAMERA == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@ -1724,9 +1748,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
#endif
#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:
copter.camera.control_msg(msg);
copter.log_picture();

15
ArduCopter/commands_logic.cpp
View File

@ -859,7 +859,13 @@ void Copter::do_roi(const AP_Mission::Mission_Command& cmd)
void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.configure_cmd(cmd);
camera.configure(cmd.content.digicam_configure.shooting_mode,
cmd.content.digicam_configure.shutter_speed,
cmd.content.digicam_configure.aperture,
cmd.content.digicam_configure.ISO,
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
#endif
}
@ -867,7 +873,12 @@ void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
void Copter::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
camera.control_cmd(cmd);
camera.control(cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step,
cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id);
log_picture();
#endif
}