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Copter: handle do_mount_control mission commands

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This commit is contained in:
Randy Mackay 2015-03-21 20:59:50 +09:00
parent 8a3a7bdcd1
commit a3933f7a1f
1 changed files with 14 additions and 0 deletions
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14
ArduCopter/commands_logic.pde
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@ -19,6 +19,7 @@ static void do_yaw(const AP_Mission::Mission_Command& cmd);
static void do_change_speed(const AP_Mission::Mission_Command& cmd); static void do_change_speed(const AP_Mission::Mission_Command& cmd);
static void do_set_home(const AP_Mission::Mission_Command& cmd); static void do_set_home(const AP_Mission::Mission_Command& cmd);
static void do_roi(const AP_Mission::Mission_Command& cmd); static void do_roi(const AP_Mission::Mission_Command& cmd);
static void do_mount_control(const AP_Mission::Mission_Command& cmd);
#if PARACHUTE == ENABLED #if PARACHUTE == ENABLED
static void do_parachute(const AP_Mission::Mission_Command& cmd); static void do_parachute(const AP_Mission::Mission_Command& cmd);
#endif #endif
@ -137,6 +138,11 @@ static bool start_command(const AP_Mission::Mission_Command& cmd)
do_roi(cmd); do_roi(cmd);
break; break;
case MAV_CMD_DO_MOUNT_CONTROL: // 205
// point the camera to a specified angle
do_mount_control(cmd);
break;
#if CAMERA == ENABLED #if CAMERA == ENABLED
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty| case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break; break;
@ -893,3 +899,11 @@ static void do_take_picture()
} }
#endif #endif
} }
// point the camera to a specified angle
static void do_mount_control(const AP_Mission::Mission_Command& cmd)
{
#if MOUNT == ENABLED
camera_mount.set_angle_targets(cmd.content.mount_control.roll, cmd.content.mount_control.pitch, cmd.content.mount_control.yaw);
#endif
}