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camera_trigger: add TRIG_INTERFACE=3 for Mavlink forwarding

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Beat Küng
2017-02-06 14:52:23 +01:00
parent 212502b2b1
commit 507e3b0263
3 changed files with 25 additions and 1 deletions
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src/modules/mavlink/mavlink_messages.cpp
+17
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@@ -1420,6 +1420,23 @@ protected:
/* ensure that only active trigger events are sent */
if (trigger.timestamp > 0) {
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
/* send MAV_CMD_IMAGE_START_CAPTURE */
mavlink_command_long_t msg_cmd;
msg_cmd.target_system = mavlink_system.sysid;
msg_cmd.target_component = MAV_COMP_ID_CAMERA;
msg_cmd.command = MAV_CMD_IMAGE_START_CAPTURE;
msg_cmd.confirmation = 0;
msg_cmd.param1 = 0;
msg_cmd.param2 = 1;
msg_cmd.param3 = 0;
msg_cmd.param4 = NAN;
msg_cmd.param5 = NAN;
msg_cmd.param6 = NAN;
msg_cmd.param7 = NAN;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg_cmd);
}
}
}