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GCS_MAVLink: move sending of camera_feedback up

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Peter Barker 2017-08-04 18:22:39 +10:00 committed by Francisco Ferreira
parent 8692bb4619
commit d1a9128118
2 changed files with 27 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -293,6 +293,7 @@ protected:
// message sending functions: // message sending functions:
bool try_send_compass_message(enum ap_message id); bool try_send_compass_message(enum ap_message id);
bool try_send_mission_message(enum ap_message id); bool try_send_mission_message(enum ap_message id);
bool try_send_camera_message(enum ap_message id);
void send_hwstatus(); void send_hwstatus();
private: private:

26
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -2113,6 +2113,27 @@ void GCS_MAVLINK::send_hwstatus()
0); 0);
} }
bool GCS_MAVLINK::try_send_camera_message(const enum ap_message id)
{
AP_Camera *camera = get_camera();
if (camera == nullptr) {
return true;
}
bool ret = true;
switch(id) {
case MSG_CAMERA_FEEDBACK:
CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
camera->send_feedback(chan);
ret = true;
break;
default:
ret = true;
break;
}
return ret;
}
bool GCS_MAVLINK::try_send_message(const enum ap_message id) bool GCS_MAVLINK::try_send_message(const enum ap_message id)
{ {
if (telemetry_delayed()) { if (telemetry_delayed()) {
@ -2155,6 +2176,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
ret = true; ret = true;
break; break;
case MSG_CAMERA_FEEDBACK:
ret = try_send_camera_message(id);
break;
default: default:
// try_send_message must always at some stage return true for // try_send_message must always at some stage return true for
// a message, or we will attempt to infinitely retry the // a message, or we will attempt to infinitely retry the