aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Camera: fix configure command id sent to components

Browse Source 
Also removed unnecessary setting of target system, component and
confirmation and minor formatting fix
This commit is contained in:
Randy Mackay 2015-09-16 12:53:47 +09:00
parent 8391764c60
commit bc06d67645
1 changed files with 2 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_Camera/AP_Camera.cpp
View File

@ -157,6 +157,7 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
mavlink_command_long_t mav_cmd_long = {};
// convert mission command to mavlink command_long
mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONFIGURE;
mav_cmd_long.param1 = shooting_mode;
mav_cmd_long.param2 = shutter_speed;
mav_cmd_long.param3 = aperture;
@ -175,7 +176,7 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
void AP_Camera::control(float session, float zoom_pos, float zoom_step, float focus_lock, float shooting_cmd, float cmd_id)
{
// take picture
if(is_equal(shooting_cmd,1.0f)){
if (is_equal(shooting_cmd,1.0f)) {
trigger_pic(false);
}
@ -183,10 +184,7 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
mavlink_command_long_t mav_cmd_long = {};
// convert command to mavlink command long
mav_cmd_long.target_system = 0;
mav_cmd_long.target_component = 0;
mav_cmd_long.command = MAV_CMD_DO_DIGICAM_CONTROL;
mav_cmd_long.confirmation = 0;
mav_cmd_long.param1 = session;
mav_cmd_long.param2 = zoom_pos;
mav_cmd_long.param3 = zoom_step;