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Navigator: Pause and unpause camera triggering on entering and exiting a mission

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This commit is contained in:
Lorenz Meier
2017-08-20 22:47:48 +02:00
parent 447c167d3e
commit 52ba62d6c4
2 changed files with 23 additions and 0 deletions
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src/modules/navigator/mission.cpp
+22
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@@ -141,10 +141,32 @@ Mission::on_inactive()
_work_item_type = WORK_ITEM_TYPE_DEFAULT;
}
void
Mission::on_inactivation()
{
// Disable camera trigger
vehicle_command_s cmd{};
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
// Pause trigger
cmd.param1 = -1.0f;
cmd.param3 = 1.0f;
cmd.timestamp = hrt_absolute_time();
_navigator->publish_vehicle_cmd(cmd);
}
void
Mission::on_activation()
{
set_mission_items();
// unpause triggering if it was paused
vehicle_command_s cmd{};
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
// unpause trigger
cmd.param1 = -1.0f;
cmd.param3 = 0.0f;
cmd.timestamp = hrt_absolute_time();
_navigator->publish_vehicle_cmd(cmd);
}
void