From 362e0316f7ef234b3ecf317c674269a80a3dd28e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 23 Feb 2016 09:25:47 +0100 Subject: [PATCH] Navigator: Forward trigger distance commands --- src/modules/navigator/mission_block.cpp | 2 ++ src/modules/navigator/mission_feasibility_checker.cpp | 1 + src/modules/navigator/navigation.h | 1 + 3 files changed, 4 insertions(+) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 4eda2f7722..1dd3a9fb8f 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -103,6 +103,7 @@ MissionBlock::is_mission_item_reached() return false; case NAV_CMD_DO_DIGICAM_CONTROL: + case NAV_CMD_DO_SET_CAM_TRIGG_DIST: return true; case NAV_CMD_DO_VTOL_TRANSITION: @@ -307,6 +308,7 @@ MissionBlock::item_contains_position(const struct mission_item_s *item) { // XXX: maybe extend that check onto item properties if (item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL || + item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST || item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION || item->nav_cmd == NAV_CMD_DO_SET_SERVO) { return false; diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp index 067aa74edc..5e92d13f22 100644 --- a/src/modules/navigator/mission_feasibility_checker.cpp +++ b/src/modules/navigator/mission_feasibility_checker.cpp @@ -243,6 +243,7 @@ bool MissionFeasibilityChecker::checkMissionItemValidity(dm_item_t dm_current, s missionitem.nav_cmd != NAV_CMD_DO_JUMP && missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO && missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL && + missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST && missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) { mavlink_log_critical(_mavlink_fd, "Rejecting mission item %i: unsupported action.", (int)(i+1)); diff --git a/src/modules/navigator/navigation.h b/src/modules/navigator/navigation.h index 873e66ead0..f8b09055ff 100644 --- a/src/modules/navigator/navigation.h +++ b/src/modules/navigator/navigation.h @@ -65,6 +65,7 @@ enum NAV_CMD { NAV_CMD_DO_SET_SERVO=183, NAV_CMD_DO_REPEAT_SERVO=184, NAV_CMD_DO_DIGICAM_CONTROL=203, + NAV_CMD_DO_SET_CAM_TRIGG_DIST=206, NAV_CMD_DO_VTOL_TRANSITION=3000, NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */ };