From 1a63fd85d86cba9a2aa9f94836c5ddb3652759f2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Andr=C3=A9=20Kjellstrup?= <andre.kjellstrup@gmail.com>
Date: Tue, 24 Oct 2017 12:42:17 +0200
Subject: [PATCH] AP_Camera: Option to trig by distance only when in AUTO mode

---
 libraries/AP_Camera/AP_Camera.cpp | 11 +++++++++++
 libraries/AP_Camera/AP_Camera.h   |  5 +++++
 2 files changed, 16 insertions(+)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index 3ee9f8d522..e5814b5806 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -92,6 +92,13 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("FEEDBACK_POL",  9, AP_Camera, _feedback_polarity, 1),
     
+    // @Param: AUTO_ONLY
+    // @DisplayName: Distance-trigging in AUTO mode only
+    // @Description: When enabled, trigging by distance is done in AUTO mode only.
+    // @Values: 0:Always,1:Only when in AUTO
+    // @User: Standard
+    AP_GROUPINFO("AUTO_ONLY",  10, AP_Camera, _auto_mode_only, 0),
+
     AP_GROUPEND
 };
 
@@ -283,6 +290,10 @@ void AP_Camera::update()
         return;
     }
 
+    if (_is_in_auto_mode != true && _auto_mode_only != 0) {
+            return;
+    }
+
     uint32_t tnow = AP_HAL::millis();
     if (tnow - _last_photo_time < (unsigned) _min_interval) {
         return;
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 46ced91a68..aa42aa07ed 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -68,6 +68,9 @@ public:
 
     static const struct AP_Param::GroupInfo        var_info[];
 
+    // set if vehicle is in AUTO mode
+    void set_is_auto_mode(bool enable) { _is_in_auto_mode = enable; }
+
 private:
     AP_Camera(AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_GPS &_gps, const AP_AHRS &_ahrs)
         : _trigger_counter(0) // count of number of cycles shutter has been held open
@@ -88,6 +91,8 @@ private:
     AP_Int16        _servo_off_pwm;     // PWM value to move servo to when shutter is deactivated
     uint8_t         _trigger_counter;   // count of number of cycles shutter has been held open
     AP_Relay       *_apm_relay;         // pointer to relay object from the base class Relay.
+    AP_Int8         _auto_mode_only;    // if 1: trigger by distance only if in AUTO mode.
+    bool            _is_in_auto_mode;   // true if in AUTO mode
 
     void            servo_pic();        // Servo operated camera
     void            relay_pic();        // basic relay activation