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MAVLink: Add capture command to command queue

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This commit is contained in:
Lorenz Meier
2017-07-18 23:05:43 +02:00
parent cb3222d131
commit dde5781142
1 changed files with 14 additions and 31 deletions
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src/modules/mavlink/mavlink_messages.cpp
+14 -31
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@@ -1354,41 +1354,24 @@ protected:
/* ensure that only active trigger events are sent */
if (trigger.timestamp > 0) {
mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
/* send MAV_CMD_IMAGE_START_CAPTURE */
mavlink_command_long_t msg_cmd;
vehicle_command_s cmd{};
msg_cmd.target_system = mavlink_system.sysid;
msg_cmd.target_component = MAV_COMP_ID_CAMERA;
msg_cmd.command = MAV_CMD_IMAGE_START_CAPTURE;
msg_cmd.confirmation = 0;
msg_cmd.param1 = 0; // all cameras
msg_cmd.param2 = 0; // duration 0 because only taking one picture
msg_cmd.param3 = 1; // only take one
msg_cmd.param4 = NAN;
msg_cmd.param5 = NAN;
msg_cmd.param6 = NAN;
msg_cmd.param7 = NAN;
cmd.target_system = mavlink_system.sysid;
cmd.target_component = MAV_COMP_ID_CAMERA;
cmd.command = MAV_CMD_IMAGE_START_CAPTURE;
cmd.confirmation = 0;
cmd.param1 = 0; // all cameras
cmd.param2 = 0; // duration 0 because only taking one picture
cmd.param3 = 1; // only take one
cmd.param4 = NAN;
cmd.param5 = NAN;
cmd.param6 = NAN;
cmd.param7 = NAN;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &msg_cmd);
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t digicam_ctrl_cmd;
digicam_ctrl_cmd.target_system = 0; // 0 for broadcast
digicam_ctrl_cmd.target_component = MAV_COMP_ID_CAMERA;
digicam_ctrl_cmd.command = MAV_CMD_DO_DIGICAM_CONTROL;
digicam_ctrl_cmd.confirmation = 0;
digicam_ctrl_cmd.param1 = NAN;
digicam_ctrl_cmd.param2 = NAN;
digicam_ctrl_cmd.param3 = NAN;
digicam_ctrl_cmd.param4 = NAN;
digicam_ctrl_cmd.param5 = 1; // take 1 picture
digicam_ctrl_cmd.param6 = NAN;
digicam_ctrl_cmd.param7 = NAN;
mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &digicam_ctrl_cmd);
MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
}
}
}