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AP_Camera: send mavlink camera feedback message even if no logger

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This commit is contained in:
Peter Barker 2020-01-26 01:05:20 +11:00 committed by WickedShell
parent cc5359d774
commit 8b20c82a18
1 changed files with 10 additions and 7 deletions
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17
libraries/AP_Camera/AP_Camera.cpp
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@ -400,19 +400,22 @@ void AP_Camera::setup_feedback_callback(void)
// log_picture - log picture taken and send feedback to GCS
void AP_Camera::log_picture()
{
if (!using_feedback_pin()) {
gcs().send_message(MSG_CAMERA_FEEDBACK);
}
AP_Logger *logger = AP_Logger::get_singleton();
if (logger == nullptr) {
return;
}
if (!logger->should_log(log_camera_bit)) {
return;
}
if (!using_feedback_pin()) {
gcs().send_message(MSG_CAMERA_FEEDBACK);
if (logger->should_log(log_camera_bit)) {
logger->Write_Camera(current_loc);
}
logger->Write_Camera(current_loc);
} else {
if (logger->should_log(log_camera_bit)) {
logger->Write_Trigger(current_loc);
}
logger->Write_Trigger(current_loc);
}
}