Fix camera trigger via MAVLink when camera capture feedback is enabled

- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message

src/modules/camera_feedback/CameraFeedback.cpp

@@ -37,6 +37,11 @@ CameraFeedback::CameraFeedback() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
+	_p_cam_cap_fback = param_find("CAM_CAP_FBACK");
+
+	if (_p_cam_cap_fback != PARAM_INVALID) {
+		param_get(_p_cam_cap_fback, (int32_t *)&_cam_cap_fback);
+	}
 }
 
 bool
@@ -63,7 +68,7 @@ CameraFeedback::Run()
 
 	camera_trigger_s trig{};
 
-	if (_trigger_sub.update(&trig)) {
+	while (_trigger_sub.update(&trig)) {
 
 		// update geotagging subscriptions
 		vehicle_global_position_s gpos{};
@@ -77,7 +82,12 @@ CameraFeedback::Run()
 		    att.timestamp == 0) {
 
 			// reject until we have valid data
-			return;
+			continue;
+		}
+
+		if ((_cam_cap_fback >= 1) && !trig.feedback) {
+			// Ignore triggers that are not feedback when camera capture feedback is enabled
+			continue;
 		}
 
 		camera_capture_s capture{};

src/modules/camera_feedback/CameraFeedback.hpp

@@ -83,4 +83,7 @@ private:
 	uORB::Subscription	_att_sub{ORB_ID(vehicle_attitude)};
 
 	uORB::Publication<camera_capture_s>	_capture_pub{ORB_ID(camera_capture)};
+
+	param_t _p_cam_cap_fback;
+	int32_t _cam_cap_fback{0};
 };

src/modules/mavlink/streams/CAMERA_TRIGGER.hpp

@@ -77,8 +77,8 @@ private:
 		camera_trigger_s camera_trigger;
 
 		if ((_mavlink->get_free_tx_buf() >= get_size()) && _camera_trigger_sub.update(&camera_trigger)) {
-			/* ensure that only active trigger events are sent */
-			if (camera_trigger.timestamp > 0) {
+			/* ensure that only active trigger events are sent and ignore camera capture feedback messages*/
+			if (camera_trigger.timestamp > 0 && !camera_trigger.feedback) {
 				mavlink_camera_trigger_t msg{};
 				msg.time_usec = camera_trigger.timestamp;
 				msg.seq = camera_trigger.seq;