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always trigger all cameras

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alessandro 2023-06-05 17:56:52 +02:00 committed by Thomas Stastny
parent 135f02679a
commit f9510557a6
1 changed files with 32 additions and 28 deletions
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60
src/modules/mavlink/streams/CAMERA_TRIGGER.hpp
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@ -72,6 +72,8 @@ private:
}; };
int _sequence {1}; int _sequence {1};
static constexpr uint8_t num_cameras = 6; // Mavlink has reserved component IDs for six cameras
bool send() override bool send() override
{ {
camera_trigger_s camera_trigger; camera_trigger_s camera_trigger;
@ -86,39 +88,41 @@ private:
_camera_status_sub.update(&_camera_status); _camera_status_sub.update(&_camera_status);
vehicle_command_s vcmd{}; for (int i_camera = 0; i_camera < num_cameras; i_camera++) {
vcmd.timestamp = hrt_absolute_time(); vehicle_command_s vcmd{};
vcmd.param1 = 0.0f; // all cameras vcmd.timestamp = hrt_absolute_time();
vcmd.param2 = 0.0f; // duration 0 because only taking one picture vcmd.param1 = 0.0f; // all cameras
vcmd.param3 = 1.0f; // only take one vcmd.param2 = 0.0f; // duration 0 because only taking one picture
vcmd.param4 = (float)_sequence++; vcmd.param3 = 1.0f; // only take one
vcmd.param5 = (double)NAN; vcmd.param4 = (float)_sequence++;
vcmd.param6 = (double)NAN; vcmd.param5 = (double)NAN;
vcmd.param7 = NAN; vcmd.param6 = (double)NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE; vcmd.param7 = NAN;
vcmd.target_system = mavlink_system.sysid; vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_component = _camera_status.active_comp_id; vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = i_camera + MAV_COMP_ID_CAMERA;
MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel()); MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());
// TODO: move this camera_trigger and publish as a vehicle_command // TODO: move this camera_trigger and publish as a vehicle_command
/* send MAV_CMD_DO_DIGICAM_CONTROL*/ /* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t command_long_msg{}; mavlink_command_long_t command_long_msg{};
command_long_msg.target_system = _camera_status.active_sys_id; command_long_msg.target_system = _camera_status.active_sys_id;
command_long_msg.target_component = _camera_status.active_comp_id; command_long_msg.target_component = i_camera + MAV_COMP_ID_CAMERA;
command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL; command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
command_long_msg.confirmation = 0; command_long_msg.confirmation = 0;
command_long_msg.param1 = NAN; command_long_msg.param1 = NAN;
command_long_msg.param2 = NAN; command_long_msg.param2 = NAN;
command_long_msg.param3 = NAN; command_long_msg.param3 = NAN;
command_long_msg.param4 = NAN; command_long_msg.param4 = NAN;
command_long_msg.param5 = 1; // take 1 picture command_long_msg.param5 = 1; // take 1 picture
command_long_msg.param6 = NAN; command_long_msg.param6 = NAN;
command_long_msg.param7 = NAN; command_long_msg.param7 = NAN;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg); mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg);
}
return true; return true;
} }