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MAVLink app: Fix camera trigger messaging

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This commit is contained in:
Lorenz Meier 2015-08-08 11:44:04 +02:00
parent 0d897db266
commit bfa6c79cb5
1 changed files with 18 additions and 15 deletions
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33
src/modules/mavlink/mavlink_messages.cpp
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@ -1067,50 +1067,52 @@ protected:
class MavlinkStreamCameraTrigger : public MavlinkStream
{
public:
const char *get_name() const {
const char *get_name() const
{
return MavlinkStreamCameraTrigger::get_name_static();
}
static const char *get_name_static() {
static const char *get_name_static()
{
return "CAMERA_TRIGGER";
}
uint8_t get_id() {
uint8_t get_id()
{
return MAVLINK_MSG_ID_CAMERA_TRIGGER;
}
static MavlinkStream *new_instance(Mavlink *mavlink) {
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamCameraTrigger(mavlink);
}
unsigned get_size() {
unsigned get_size()
{
return MAVLINK_MSG_ID_CAMERA_TRIGGER_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
MavlinkOrbSubscription *_camera_trigger_sub;
uint64_t _trig_time;
MavlinkOrbSubscription *_trigger_sub;
/* do not allow top copying this class */
MavlinkStreamCameraTrigger(MavlinkStreamCameraTrigger &);
MavlinkStreamCameraTrigger &operator = (const MavlinkStreamCameraTrigger &);
MavlinkStreamCameraTrigger& operator = (const MavlinkStreamCameraTrigger &);
protected:
explicit MavlinkStreamCameraTrigger(Mavlink *mavlink) : MavlinkStream(mavlink),
_camera_trigger_sub(_mavlink->add_orb_subscription(ORB_ID(camera_trigger))),
_trig_time(0)
_trigger_sub(_mavlink->add_orb_subscription(ORB_ID(camera_trigger)))
{}
void send(const hrt_abstime t) {
void send(const hrt_abstime t)
{
struct camera_trigger_s trigger;
if (_camera_trigger_sub->update(&_trig_time, &trigger)) {
if (_trigger_sub->update(&trigger)) {
mavlink_camera_trigger_t msg;
msg.time_usec = trigger.timestamp;
msg.seq = trigger.seq;
_mavlink->send_message(MAVLINK_MSG_ID_CAMERA_TRIGGER, &msg);
}
}
@ -2366,6 +2368,7 @@ const StreamListItem *streams_list[] = {
new StreamListItem(&MavlinkStreamActuatorControlTarget<3>::new_instance, &MavlinkStreamActuatorControlTarget<3>::get_name_static),
new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static),
new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
new StreamListItem(&MavlinkStreamCameraTrigger::new_instance, &MavlinkStreamCameraTrigger::get_name_static),
new StreamListItem(&MavlinkStreamDistanceSensor::new_instance, &MavlinkStreamDistanceSensor::get_name_static),
nullptr
};