From d752d1495b827940ce6400d7c0e65b6acb874a46 Mon Sep 17 00:00:00 2001 From: zbr Date: Thu, 7 Jan 2021 14:51:03 +0800 Subject: [PATCH] =?UTF-8?q?=E7=9B=B8=E6=9C=BA=E7=85=A7=E7=89=87=E5=B7=AE?= =?UTF-8?q?=E5=BC=82=EF=BC=8C=E6=94=B9=E6=88=90=E4=B8=80=E5=8F=B0=E7=9B=B8?= =?UTF-8?q?=E6=9C=BA2=E5=BC=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- libraries/AP_Camera/AP_Camera.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp index a80fdcb446..9a1f5e86c1 100644 --- a/libraries/AP_Camera/AP_Camera.cpp +++ b/libraries/AP_Camera/AP_Camera.cpp @@ -602,11 +602,15 @@ void AP_Camera::send_camera_zr_status(mavlink_channel_t chan) delt_pic_num += abs(num - camera_state.num[i]); // 判断各个相机照片数是否相等 } + if(delt_pic_num == 0){ + delt_cnt = 0; + last_delt = 0; + } if(last_delt != delt_pic_num){ delt_cnt+=1; if(delt_cnt > 5){ // Mavlink一次可能会发两三个chan，取5确保是两次计算差值满足条件 // gcs().send_text(MAV_SEVERITY_INFO, "照片数差异(%d):%d,%d,%d,%d,%d",delt_pic_num,camera_state.num[0],camera_state.num[1],camera_state.num[2],camera_state.num[3],camera_state.num[4]); - if(delt_pic_num > 3){ + if(delt_pic_num > 5){ gcs().send_text(MAV_SEVERITY_CRITICAL, "%d:照片数差异大,总差值：%d",camera_state.num[0],delt_pic_num); feedback_gimbal = 20; }else @@ -616,7 +620,6 @@ void AP_Camera::send_camera_zr_status(mavlink_channel_t chan) last_delt = delt_pic_num; delt_cnt = 0; } - }else{ } mavlink_msg_camera_zr_status_send( chan,