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mavlink: add onboard function for camera capture commands

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This commit is contained in:
Julian Oes
2014-03-17 20:12:12 +01:00
parent 295f87f22c
commit 8fe3475b41
3 changed files with 58 additions and 2 deletions
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src/modules/mavlink/mavlink_main.cpp
+13
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@@ -1653,6 +1653,8 @@ Mavlink::task_main(int argc, char *argv[])
case 'm':
if (strcmp(optarg, "custom") == 0) {
_mode = MAVLINK_MODE_CUSTOM;
} else if (strcmp(optarg, "camera") == 0) {
_mode = MAVLINK_MODE_CAMERA;
}
break;
@@ -1696,6 +1698,10 @@ Mavlink::task_main(int argc, char *argv[])
warnx("mode: CUSTOM");
break;
case MAVLINK_MODE_CAMERA:
warnx("mode: CAMERA");
break;
default:
warnx("ERROR: Unknown mode");
break;
@@ -1765,6 +1771,13 @@ Mavlink::task_main(int argc, char *argv[])
configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult);
break;
case MAVLINK_MODE_CAMERA:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("ATTITUDE", 20.0f);
configure_stream("GLOBAL_POSITION_INT", 20.0f);
configure_stream("CAMERA_CAPTURE", 1.0f);
break;
default:
break;
}