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Fix camera trigger via MAVLink when camera capture feedback is enabled

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- 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
This commit is contained in:
Michael Schaeuble
2021-12-17 07:56:08 +01:00
committed by Beat Küng
parent 3e4031cf0f
commit ebb657bcf4
5 changed files with 37 additions and 36 deletions
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src/modules/mavlink/streams/CAMERA_TRIGGER.hpp
+2 -2
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@@ -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;