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AP_Camera: tidy up usage of trigger_pic

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Peter Barker 2017-07-26 14:32:40 +10:00 committed by Francisco Ferreira
parent b299772a75
commit 9390539231
2 changed files with 19 additions and 22 deletions
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36
libraries/AP_Camera/AP_Camera.cpp
View File

@ -128,8 +128,7 @@ AP_Camera::relay_pic()
/// single entry point to take pictures /// single entry point to take pictures
/// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components /// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components
void void AP_Camera::trigger_pic()
AP_Camera::trigger_pic(bool send_mavlink_msg)
{ {
setup_feedback_callback(); setup_feedback_callback();
@ -144,19 +143,7 @@ AP_Camera::trigger_pic(bool send_mavlink_msg)
break; break;
} }
if (send_mavlink_msg) { log_picture();
// create command long mavlink message
mavlink_command_long_t cmd_msg;
memset(&cmd_msg, 0, sizeof(cmd_msg));
cmd_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
cmd_msg.param5 = 1;
// create message
mavlink_message_t msg;
mavlink_msg_command_long_encode(0, 0, &msg, &cmd_msg);
// forward to all components
GCS_MAVLINK::send_to_components(&msg);
}
} }
/// de-activate the trigger after some delay, but without using a delay() function /// de-activate the trigger after some delay, but without using a delay() function
@ -221,8 +208,7 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
{ {
// take picture // take picture
if (is_equal(shooting_cmd,1.0f)) { if (is_equal(shooting_cmd,1.0f)) {
trigger_pic(false); trigger_pic();
log_picture();
} }
mavlink_message_t msg; mavlink_message_t msg;
@ -420,8 +406,20 @@ void AP_Camera::log_picture()
// take_picture - take a picture // take_picture - take a picture
void AP_Camera::take_picture() void AP_Camera::take_picture()
{ {
trigger_pic(true); // take a local picture:
log_picture(); trigger_pic();
// tell all of our components to take a picture:
mavlink_command_long_t cmd_msg;
memset(&cmd_msg, 0, sizeof(cmd_msg));
cmd_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
cmd_msg.param5 = 1;
// create message
mavlink_message_t msg;
mavlink_msg_command_long_encode(0, 0, &msg, &cmd_msg);
// forward to all components
GCS_MAVLINK::send_to_components(&msg);
} }
/* /*

5
libraries/AP_Camera/AP_Camera.h
View File

@ -108,9 +108,8 @@ private:
const AP_GPS &gps; const AP_GPS &gps;
const AP_AHRS &ahrs; const AP_AHRS &ahrs;
// single entry point to take pictures // entry point to trip local shutter (e.g. by relay or servo)
// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components void trigger_pic();
void trigger_pic(bool send_mavlink_msg);
// de-activate the trigger after some delay, but without using a delay() function // de-activate the trigger after some delay, but without using a delay() function
// should be called at 50hz from main program // should be called at 50hz from main program