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Camera: record number of pictures taken since boot

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The field is useful for detecting in a GCS if a mavlink_msg_camera_feedback message was dropped.
This commit is contained in:
Arthur Benemann 2014-08-26 14:08:54 -07:00 committed by Randy Mackay
parent b587025ad1
commit 7bb4a39608
2 changed files with 4 additions and 2 deletions
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3
libraries/AP_Camera/AP_Camera.cpp
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@ -77,6 +77,7 @@ AP_Camera::relay_pic()
void
AP_Camera::trigger_pic()
{
_image_index++;
switch (_trigger_type)
{
case AP_CAMERA_TRIGGER_TYPE_SERVO:
@ -177,7 +178,7 @@ void AP_Camera::send_feedback(mavlink_channel_t chan, AP_GPS &gps, const AP_AHRS
mavlink_msg_camera_feedback_send(chan,
gps.time_epoch_usec(),
0, 0, 0,
0, 0, _image_index,
current_loc.lat, current_loc.lng,
altitude/100.0, altitude_rel/100.0,
ahrs.roll_sensor/100.0, ahrs.pitch_sensor/100.0, ahrs.yaw_sensor/100.0,

3
libraries/AP_Camera/AP_Camera.h
View File

@ -68,8 +68,9 @@ private:
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
AP_Float _trigg_dist; // distance between trigger points (meters)
AP_Float _trigg_dist; // distance between trigger points (meters)
struct Location _last_location;
uint16_t _image_index; // number of pictures taken since boot
};