Plane: Support do_digicam_x via command_long

ArduPlane/GCS_Mavlink.cpp

@@ -1161,6 +1161,31 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 #endif
 
+#if CAMERA == ENABLED
+        case MAV_CMD_DO_DIGICAM_CONFIGURE:
+            plane.camera.configure(packet.param1,
+                                   packet.param2,
+                                   packet.param3,
+                                   packet.param4,
+                                   packet.param5,
+                                   packet.param6,
+                                   packet.param7);
+
+            result = MAV_RESULT_ACCEPTED;
+            break;
+
+        case MAV_CMD_DO_DIGICAM_CONTROL:
+            plane.camera.control(packet.param1,
+                                 packet.param2,
+                                 packet.param3,
+                                 packet.param4,
+                                 packet.param5,
+                                 packet.param6);
+
+            result = MAV_RESULT_ACCEPTED;
+            break;
+#endif // CAMERA == ENABLED
+
         case MAV_CMD_DO_MOUNT_CONTROL:
 #if MOUNT == ENABLED
             plane.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@@ -1714,11 +1739,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     }
 
 #if CAMERA == ENABLED
+    //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
     case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
     {
         break;
     }
 
+    //deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
     case MAVLINK_MSG_ID_DIGICAM_CONTROL:
     {
         plane.camera.control_msg(msg);
@@ -1728,12 +1755,14 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #endif // CAMERA == ENABLED
 
 #if MOUNT == ENABLED
+    //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
     {
         plane.camera_mount.configure_msg(msg);
         break;
     }
 
+    //deprecated. Use MAV_CMD_DO_MOUNT_CONTROL
     case MAVLINK_MSG_ID_MOUNT_CONTROL:
     {
         plane.camera_mount.control_msg(msg);

ArduPlane/commands_logic.cpp

@@ -863,7 +863,13 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
 void Plane::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 {
 #if CAMERA == ENABLED
-    camera.configure_cmd(cmd);
+    camera.configure(cmd.content.digicam_configure.shooting_mode,
+                     cmd.content.digicam_configure.shutter_speed,
+                     cmd.content.digicam_configure.aperture,
+                     cmd.content.digicam_configure.ISO,
+                     cmd.content.digicam_configure.exposure_type,
+                     cmd.content.digicam_configure.cmd_id,
+                     cmd.content.digicam_configure.engine_cutoff_time);
 #endif
 }
 
@@ -871,7 +877,12 @@ void Plane::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 void Plane::do_digicam_control(const AP_Mission::Mission_Command& cmd)
 {
 #if CAMERA == ENABLED
-    camera.control_cmd(cmd);
+    camera.control(cmd.content.digicam_control.session,
+                   cmd.content.digicam_control.zoom_pos,
+                   cmd.content.digicam_control.zoom_step,
+                   cmd.content.digicam_control.focus_lock,
+                   cmd.content.digicam_control.shooting_cmd,
+                   cmd.content.digicam_control.cmd_id);
     log_picture();
 #endif
 }