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navigator_main: use camera_trigger driver for single captures

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2022-05-20 02:05:44 -04:00 committed by Daniel Agar
parent fc89705ef8
commit 30e867d4de
1 changed files with 14 additions and 2 deletions
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16
src/modules/navigator/navigator_main.cpp
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@ -1500,8 +1500,20 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
switch (vcmd->command) {
case NAV_CMD_IMAGE_START_CAPTURE:
// We are only capturing multiple if param3 is 0 or > 1.
if (static_cast<int>(vcmd->param3) != 1) {
if (static_cast<int>(vcmd->param3) == 1) {
// When sending a single capture we need to include the sequence number, thus camera_trigger needs to handle this cmd
vcmd->param1 = 0.0f;
vcmd->param2 = 0.0f;
vcmd->param3 = 0.0f;
vcmd->param4 = 0.0f;
vcmd->param5 = 1.0;
vcmd->param6 = 0.0;
vcmd->param7 = 0.0f;
vcmd->command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
} else {
// We are only capturing multiple if param3 is 0 or > 1.
// For multiple pictures the sequence number does not need to be included, thus there is no need to go through camera_trigger
_is_capturing_images = true;
}