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Copter: move common mavlink camera handling up

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This commit is contained in:
Peter Barker 2017-07-26 16:10:42 +10:00 committed by Francisco Ferreira
parent 1cb6962f84
commit f56c9bd96d
2 changed files with 10 additions and 40 deletions
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49
ArduCopter/GCS_Mavlink.cpp
View File

@ -1062,35 +1062,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_ACCEPTED;
break;
#if CAMERA == ENABLED
case MAV_CMD_DO_DIGICAM_CONFIGURE:
copter.camera.configure(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6,
packet.param7);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_DIGICAM_CONTROL:
copter.camera.control(packet.param1,
packet.param2,
packet.param3,
packet.param4,
packet.param5,
packet.param6);
result = MAV_RESULT_ACCEPTED;
break;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
copter.camera.set_trigger_distance(packet.param1);
result = MAV_RESULT_ACCEPTED;
break;
#endif // CAMERA == ENABLED
case MAV_CMD_DO_MOUNT_CONTROL:
#if MOUNT == ENABLED
copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@ -1695,17 +1666,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
break;
#endif // AC_FENCE == ENABLED
#if CAMERA == ENABLED
//deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
case MAVLINK_MSG_ID_DIGICAM_CONFIGURE: // MAV ID: 202
break;
//deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
case MAVLINK_MSG_ID_DIGICAM_CONTROL:
copter.camera.control_msg(msg);
break;
#endif // CAMERA == ENABLED
#if MOUNT == ENABLED
//deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
case MAVLINK_MSG_ID_MOUNT_CONFIGURE: // MAV ID: 204
@ -1862,6 +1822,15 @@ AP_GPS *GCS_MAVLINK_Copter::get_gps() const
return &copter.gps;
}
AP_Camera *GCS_MAVLINK_Copter::get_camera() const
{
#if CAMERA == ENABLED
return &copter.camera;
#else
return nullptr;
#endif
}
AP_ServoRelayEvents *GCS_MAVLINK_Copter::get_servorelayevents() const
{
return &copter.ServoRelayEvents;

1
ArduCopter/GCS_Mavlink.h
View File

@ -21,6 +21,7 @@ protected:
AP_Mission *get_mission() override;
AP_Rally *get_rally() const override;
Compass *get_compass() const override;
AP_Camera *get_camera() const override;
AP_ServoRelayEvents *get_servorelayevents() const override;
AP_GPS *get_gps() const override;