ArduCopter: log a picture if AP_Camera::control() returns true

ArduCopter/GCS_Mavlink.cpp

@@ -1303,13 +1303,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_DO_DIGICAM_CONTROL:
-            copter.camera.control(packet.param1,
+            if (copter.camera.control(packet.param1,
-                                  packet.param2,
+                                      packet.param2,
-                                  packet.param3,
+                                      packet.param3,
-                                  packet.param4,
+                                      packet.param4,
-                                  packet.param5,
+                                      packet.param5,
-                                  packet.param6);
+                                      packet.param6)) {
-
+                copter.log_picture();
+            }
             result = MAV_RESULT_ACCEPTED;
             break;
 #endif // CAMERA == ENABLED

ArduCopter/commands_logic.cpp

@@ -873,13 +873,14 @@ void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 void Copter::do_digicam_control(const AP_Mission::Mission_Command& cmd)
 {
 #if CAMERA == ENABLED
-    camera.control(cmd.content.digicam_control.session,
+    if (camera.control(cmd.content.digicam_control.session,
-                   cmd.content.digicam_control.zoom_pos,
+                       cmd.content.digicam_control.zoom_pos,
-                   cmd.content.digicam_control.zoom_step,
+                       cmd.content.digicam_control.zoom_step,
-                   cmd.content.digicam_control.focus_lock,
+                       cmd.content.digicam_control.focus_lock,
-                   cmd.content.digicam_control.shooting_cmd,
+                       cmd.content.digicam_control.shooting_cmd,
-                   cmd.content.digicam_control.cmd_id);
+                       cmd.content.digicam_control.cmd_id)) {
-    log_picture();
+        log_picture();
+    }
 #endif
 }