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Rover: support MAV_CMD_DO_SET_CAM_TRIGG_DIST

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This commit is contained in:
Andrew Tridgell 2013-10-11 21:36:07 +11:00
parent 3b9566bc09
commit 5acc372f40
2 changed files with 12 additions and 0 deletions
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8
APMrover2/GCS_Mavlink.pde
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@ -1260,6 +1260,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
param2 = tell_command.alt; param2 = tell_command.alt;
param1 = tell_command.p1; param1 = tell_command.p1;
break; break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
param1 = tell_command.alt;
break;
} }
mavlink_msg_mission_item_send(chan,msg->sysid, mavlink_msg_mission_item_send(chan,msg->sysid,
@ -1538,6 +1542,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
tell_command.p1 = packet.param1; tell_command.p1 = packet.param1;
break; break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
tell_command.alt = packet.param1;
break;
default: default:
result = MAV_MISSION_UNSUPPORTED; result = MAV_MISSION_UNSUPPORTED;
break; break;

4
APMrover2/commands_logic.pde
View File

@ -92,6 +92,10 @@ static void handle_process_do_command()
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty| case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
do_take_picture(); do_take_picture();
break; break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera.set_trigger_distance(next_nonnav_command.alt);
break;
#endif #endif
#if MOUNT == ENABLED #if MOUNT == ENABLED