fly316/PX4-Autopilot
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navigator/mavlink: photos and videos at waypoints

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This adds the capability to forward the commands
- MAV_CMD_VIDEO_START_CAPTURE
- MAV_CMD_VIDEO_STOP_CAPTURE
- MAV_CMD_IMAGE_START_CAPTURE
- MAV_CMD_IMAGE_STOP_CAPTURE
at waypoints which will then be sent over mavlink to component id
100 aka MAV_COMP_ID_CAMERA.
This commit is contained in:
Julian Oes
2016-10-15 12:37:06 +02:00
committed by Lorenz Meier
parent eb51184bbd
commit 9842e49dc6
4 changed files with 40 additions and 2 deletions
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src/modules/navigator/mission_block.cpp
+24 -2
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@@ -104,6 +104,10 @@ MissionBlock::is_mission_item_reached()
return false;
case NAV_CMD_DO_DIGICAM_CONTROL:
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
@@ -232,7 +236,7 @@ MissionBlock::is_mission_item_reached()
// set required yaw from bearing to the next mission item
if (_mission_item.force_heading) {
struct position_setpoint_s next_sp = _navigator->get_position_setpoint_triplet()->next;
if (next_sp.valid) {
_mission_item.yaw = get_bearing_to_next_waypoint(_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
@@ -352,7 +356,21 @@ MissionBlock::mission_item_to_vehicle_command(const struct mission_item_s *item,
cmd->command = item->nav_cmd;
cmd->target_system = _navigator->get_vstatus()->system_id;
cmd->target_component = _navigator->get_vstatus()->component_id;
// The camera commands are not processed on the autopilot but will be
// sent to the mavlink links to other components.
switch (item->nav_cmd) {
case NAV_CMD_IMAGE_START_CAPTURE:
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
cmd->target_component = 100; // MAV_COMP_ID_CAMERA
break;
default:
cmd->target_component = _navigator->get_vstatus()->component_id;
break;
}
cmd->source_system = _navigator->get_vstatus()->system_id;
cmd->source_component = _navigator->get_vstatus()->component_id;
cmd->confirmation = false;
@@ -404,6 +422,10 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
item->nav_cmd == NAV_CMD_DO_CHANGE_SPEED ||
item->nav_cmd == NAV_CMD_DO_SET_SERVO ||
item->nav_cmd == NAV_CMD_DO_DIGICAM_CONTROL ||
item->nav_cmd == NAV_CMD_IMAGE_START_CAPTURE ||
item->nav_cmd == NAV_CMD_IMAGE_STOP_CAPTURE ||
item->nav_cmd == NAV_CMD_VIDEO_START_CAPTURE ||
item->nav_cmd == NAV_CMD_VIDEO_STOP_CAPTURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONFIGURE ||
item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
item->nav_cmd == NAV_CMD_DO_SET_ROI ||