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Navigator: move disable camera trigger on mission inactivation to seperate function

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-06-20 14:38:03 +02:00
parent d9ae2ed7ac
commit c6870006c7
3 changed files with 17 additions and 10 deletions
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src/modules/navigator/navigator_main.cpp
+12
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@@ -1527,6 +1527,18 @@ void Navigator::mode_completed(uint8_t nav_state, uint8_t result)
_mode_completed_pub.publish(mode_completed);
}
void Navigator::disable_camera_trigger()
{
// Disable camera trigger
vehicle_command_s cmd {};
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
// Pause trigger
cmd.param1 = -1.0f;
cmd.param3 = 1.0f;
publish_vehicle_cmd(&cmd);
}
int Navigator::print_usage(const char *reason)
{
if (reason) {