From b1a987f06bf6fb2e6fd5d35676dcad8601dd9374 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 16 Jul 2017 18:53:14 +0200
Subject: [PATCH] Enable camera triggering and gimbal control via MAVLink

---
 posix-configs/SITL/init/ekf2/typhoon_h480 | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/posix-configs/SITL/init/ekf2/typhoon_h480 b/posix-configs/SITL/init/ekf2/typhoon_h480
index 8d92c998b2..ade6ca37fe 100644
--- a/posix-configs/SITL/init/ekf2/typhoon_h480
+++ b/posix-configs/SITL/init/ekf2/typhoon_h480
@@ -43,6 +43,9 @@ param set SENS_BOARD_X_OFF 0.000001
 param set SYS_AUTOSTART 6001
 param set SYS_MC_EST_GROUP 2
 param set SYS_RESTART_TYPE 2
+param set TRIG_INTERFACE 3
+param set TRIG_MODE 4
+param set MNT_MODE_IN 0
 replay tryapplyparams
 simulator start -s
 tone_alarm start
@@ -63,6 +66,7 @@ mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
 mixer append /dev/pwm_output0 ROMFS/px4fmu_common/mixers/mount_legs.aux.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
+mavlink start -u 14558 -r 4000 -m onboard -o 14530
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
 mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
@@ -75,5 +79,6 @@ mavlink stream -r 250 -s HIGHRES_IMU -u 14556
 mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
 logger start -e -t
 vmount start
+camera_trigger start
 mavlink boot_complete
 replay trystart