From 192e8b48d1b10666f03eb6d32ff73fab1ef7cfc0 Mon Sep 17 00:00:00 2001 From: Mohammed Kabir Date: Thu, 4 May 2017 11:16:53 +0200 Subject: [PATCH] mavlink : send camera_image_captured message --- src/modules/mavlink/mavlink_main.cpp | 2 ++ src/modules/mavlink/mavlink_messages.cpp | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index b6b34ec2a7..14b8c03ca2 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2042,6 +2042,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("CAMERA_CAPTURE", 2.0f); //camera trigger is rate limited at the source, do not limit here configure_stream("CAMERA_TRIGGER", 500.0f); + configure_stream("CAMERA_IMAGE_CAPTURED", 5.0f); configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f); break; @@ -2094,6 +2095,7 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("VFR_HUD", 20.0f); configure_stream("WIND_COV", 10.0f); configure_stream("CAMERA_TRIGGER", 500.0f); + configure_stream("CAMERA_IMAGE_CAPTURED", 5.0f); configure_stream("MISSION_ITEM", 50.0f); configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f); configure_stream("MANUAL_CONTROL", 5.0f); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 801890a13f..ca0fd9fdc7 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1544,7 +1544,7 @@ protected: msg.lat = capture.lat * 1e7; msg.lon = capture.lon * 1e7; msg.alt = capture.alt * 1e3f; - msg.relative_alt = capture.relative_alt * 1e3f; + msg.relative_alt = capture.ground_distance * 1e3f; msg.q[0] = capture.q[0]; msg.q[1] = capture.q[1]; msg.q[2] = capture.q[2];