fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 15:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

mavlink: use dynamic camera comp id instead of hardcoded value

Browse Source
This commit is contained in:
Igor Mišić
2021-07-31 12:41:49 -04:00
committed by GitHub
parent 6379f2b032
commit af2247bd94
6 changed files with 26 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/streams/CAMERA_TRIGGER.hpp
+11 -3
View File
@@ -34,6 +34,7 @@
#ifndef CAMERA_TRIGGER_HPP
#define CAMERA_TRIGGER_HPP
#include <uORB/topics/camera_status.h>
#include <uORB/topics/camera_trigger.h>
class MavlinkStreamCameraTrigger : public MavlinkStream
@@ -63,6 +64,12 @@ private:
explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _camera_trigger_sub{ORB_ID(camera_trigger)};
uORB::Subscription _camera_status_sub{ORB_ID(camera_status)};
camera_status_s _camera_status = {
0, //timestamp
0, //target_sys_id
MAV_COMP_ID_CAMERA // active_comp_id
};
bool send() override
{
@@ -76,6 +83,7 @@ private:
msg.seq = camera_trigger.seq;
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
_camera_status_sub.update(&_camera_status);
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
@@ -88,7 +96,7 @@ private:
vcmd.param7 = NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = MAV_COMP_ID_CAMERA;
vcmd.target_component = _camera_status.active_comp_id;
MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());
@@ -97,8 +105,8 @@ private:
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t command_long_msg{};
command_long_msg.target_system = 0; // 0 for broadcast
command_long_msg.target_component = MAV_COMP_ID_CAMERA;
command_long_msg.target_system = _camera_status.active_sys_id;
command_long_msg.target_component = _camera_status.active_comp_id;
command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
command_long_msg.confirmation = 0;
command_long_msg.param1 = NAN;