Plane: let AP_Mission handle common camera commands

ArduPlane/Plane.h

@@ -1016,8 +1016,6 @@ private:
     void do_within_distance(const AP_Mission::Mission_Command& cmd);
     void do_change_speed(const AP_Mission::Mission_Command& cmd);
     void do_set_home(const AP_Mission::Mission_Command& cmd);
-    void do_digicam_configure(const AP_Mission::Mission_Command& cmd);
-    void do_digicam_control(const AP_Mission::Mission_Command& cmd);
     bool start_command_callback(const AP_Mission::Mission_Command &cmd);
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
     void notify_flight_mode(enum FlightMode mode);

ArduPlane/commands_logic.cpp

@@ -150,24 +150,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         autotune_enable(cmd.p1);
         break;
 
-#if CAMERA == ENABLED
-    case MAV_CMD_DO_CONTROL_VIDEO:                      // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
-        break;
-
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:                  // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
-        do_digicam_configure(cmd);
-        break;
-
-    case MAV_CMD_DO_DIGICAM_CONTROL:                    // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
-        // do_digicam_control Send Digicam Control message with the camera library
-        do_digicam_control(cmd);
-        break;
-
-    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-        camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
-        break;
-#endif
-
 #if PARACHUTE == ENABLED
     case MAV_CMD_DO_PARACHUTE:
         do_parachute(cmd);
@@ -303,8 +285,6 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_DO_FENCE_ENABLE:
     case MAV_CMD_DO_AUTOTUNE_ENABLE:
     case MAV_CMD_DO_CONTROL_VIDEO:
-    case MAV_CMD_DO_DIGICAM_CONFIGURE:
-    case MAV_CMD_DO_DIGICAM_CONTROL:
     case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
     case MAV_CMD_DO_SET_ROI:
     case MAV_CMD_DO_MOUNT_CONTROL:
@@ -905,33 +885,6 @@ void Plane::do_set_home(const AP_Mission::Mission_Command& cmd)
     }
 }
 
-// do_digicam_configure Send Digicam Configure message with the camera library
-void Plane::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
-{
-#if CAMERA == ENABLED
-    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
-}
-
-// do_digicam_control Send Digicam Control message with the camera library
-void Plane::do_digicam_control(const AP_Mission::Mission_Command& cmd)
-{
-#if CAMERA == ENABLED
-    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);
-#endif
-}
-
 #if PARACHUTE == ENABLED
 // do_parachute - configure or release parachute
 void Plane::do_parachute(const AP_Mission::Mission_Command& cmd)