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AP_Camera: start-image-capture with all zeros takes single pic

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returns failed if no cameras configured
This commit is contained in:
Randy Mackay 2023-09-22 15:49:34 +09:00 committed by Andrew Tridgell
parent 9e3ab558b3
commit fb35d97abf
1 changed files with 18 additions and 18 deletions
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36
libraries/AP_Camera/AP_Camera.cpp
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@ -325,39 +325,39 @@ MAV_RESULT AP_Camera::handle_command_long(const mavlink_command_long_t &packet)
}
return MAV_RESULT_DENIED;
case MAV_CMD_IMAGE_START_CAPTURE:
// check if this is a single picture request
if (is_equal(packet.param3, 1.0f)) {
// param1 : camera id
// param2 : interval (in seconds)
// param3 : total num images
// sanity check instance
if (is_negative(packet.param1)) {
return MAV_RESULT_UNSUPPORTED;
}
// check if this is a single picture request (e.g. total images is 1 or interval and total images are zero)
if (is_equal(packet.param3, 1.0f) ||
(is_zero(packet.param2) && is_zero(packet.param3))) {
if (is_zero(packet.param1)) {
// take pictures for every backend
take_picture();
return MAV_RESULT_ACCEPTED;
}
if (take_picture(packet.param1-1)) {
return MAV_RESULT_ACCEPTED;
return take_picture() ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
}
// take picture for specified instance
return take_picture(packet.param1-1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
} else if (is_zero(packet.param3)) {
// multiple picture request, take pictures forever
if (is_zero(packet.param1)) {
// take pictures for every backend
take_multiple_pictures(packet.param2*1000, -1);
return MAV_RESULT_ACCEPTED;
}
if (take_multiple_pictures(packet.param1-1,packet.param2*1000, -1)) {
return MAV_RESULT_ACCEPTED;
return take_multiple_pictures(packet.param2*1000, -1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
}
return take_multiple_pictures(packet.param1-1, packet.param2*1000, -1) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
} else {
// take multiple pictures equal to the number specified in param3
if (is_zero(packet.param1)) {
// take pictures for every backend
take_multiple_pictures(packet.param2*1000, packet.param3);
return MAV_RESULT_ACCEPTED;
}
if (take_multiple_pictures(packet.param1-1,packet.param2*1000, packet.param3)) {
return MAV_RESULT_ACCEPTED;
return take_multiple_pictures(packet.param2*1000, packet.param3) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
}
return take_multiple_pictures(packet.param1-1, packet.param2*1000, packet.param3) ? MAV_RESULT_ACCEPTED : MAV_RESULT_FAILED;
}
return MAV_RESULT_UNSUPPORTED;
case MAV_CMD_IMAGE_STOP_CAPTURE:
// param1 : camera id
if (is_zero(packet.param1)) {
// stop capture for every backend
stop_capture();