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Mavlink: Implemented SET_CAMERA_ZOOM

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This commit is contained in:
David Jablonski
2020-03-30 17:10:36 +02:00
committed by Julian Oes
parent 73f7243bc8
commit 6bd191a24e
8 changed files with 42 additions and 0 deletions
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src/modules/navigator/mission_block.cpp
+1
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@@ -102,6 +102,7 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_DO_SET_CAM_TRIGG_DIST:
case NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
case NAV_CMD_SET_CAMERA_MODE:
case NAV_CMD_SET_CAMERA_ZOOM:
return true;
case NAV_CMD_DO_VTOL_TRANSITION:
src/modules/navigator/mission_feasibility_checker.cpp
+2
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@@ -268,6 +268,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Mission rejected: item %i: unsupported cmd: %d", (int)(i + 1),
@@ -392,6 +393,7 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
missionitem.nav_cmd != NAV_CMD_SET_CAMERA_ZOOM &&
missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
}
}
src/modules/navigator/navigation.h
+1
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@@ -83,6 +83,7 @@ enum NAV_CMD {
NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
NAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
NAV_CMD_SET_CAMERA_MODE = 530,
NAV_CMD_SET_CAMERA_ZOOM = 531,
NAV_CMD_IMAGE_START_CAPTURE = 2000,
NAV_CMD_IMAGE_STOP_CAPTURE = 2001,
NAV_CMD_DO_TRIGGER_CONTROL = 2003,