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AP_Camera: image-stop-capture fix for instance

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Randy Mackay 2023-09-22 20:41:35 +09:00 committed by Andrew Tridgell
parent fb35d97abf
commit 999a3fe8d9
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_Camera/AP_Camera.cpp
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@ -358,12 +358,15 @@ MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
} }
case MAV_CMD_IMAGE_STOP_CAPTURE: case MAV_CMD_IMAGE_STOP_CAPTURE:
// param1 : camera id // param1 : camera id
if (is_negative(packet.param1)) {
return MAV_RESULT_UNSUPPORTED;
}
if (is_zero(packet.param1)) { if (is_zero(packet.param1)) {
// stop capture for every backend // stop capture for every backend
stop_capture(); stop_capture();
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
if (stop_capture(packet.param1)) { if (stop_capture(packet.param1-1)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
return MAV_RESULT_UNSUPPORTED; return MAV_RESULT_UNSUPPORTED;