From 2939bd9c96f0a655a0440d704aeeec8b06e8042f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 18 Jul 2017 21:14:36 -0400 Subject: [PATCH] Partial Revert "MAVLink: Add capture command to command queue" This reverts commit dde5781142ac8b745ecc19ae6b9d719a15eaab72. --- src/modules/mavlink/mavlink_messages.cpp | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 31d9c0bf7c..924875b42b 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -1377,6 +1377,24 @@ protected: cmd.param7 = NAN; MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel()); + + // TODO: move this camera_trigger and publish as a vehicle_command + /* send MAV_CMD_DO_DIGICAM_CONTROL*/ + mavlink_command_long_t digicam_ctrl_cmd; + + digicam_ctrl_cmd.target_system = 0; // 0 for broadcast + digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA; + digicam_ctrl_cmd.command = MAV_CMD_DO_DIGICAM_CONTROL; + digicam_ctrl_cmd.confirmation = 0; + digicam_ctrl_cmd.param1 = NAN; + digicam_ctrl_cmd.param2 = NAN; + digicam_ctrl_cmd.param3 = NAN; + digicam_ctrl_cmd.param4 = NAN; + digicam_ctrl_cmd.param5 = 1; // take 1 picture + digicam_ctrl_cmd.param6 = NAN; + digicam_ctrl_cmd.param7 = NAN; + + mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &digicam_ctrl_cmd); } } }