allow DO_CONTROL_VIDEO in missions

msg/actuator_controls.msg

@@ -9,7 +9,6 @@ uint8 INDEX_FLAPS = 4
 uint8 INDEX_SPOILERS = 5
 uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_LANDING_GEAR = 7
-
 uint8 INDEX_GIMBAL_SHUTTER = 3
 uint8 INDEX_CAMERA_ZOOM = 4
 

src/modules/mavlink/mavlink_mission.cpp

@@ -1473,6 +1473,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 		case MAV_CMD_IMAGE_STOP_CAPTURE:
 		case MAV_CMD_VIDEO_START_CAPTURE:
 		case MAV_CMD_VIDEO_STOP_CAPTURE:
+		case MAV_CMD_DO_CONTROL_VIDEO:
 		case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
 		case MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
 		case MAV_CMD_SET_CAMERA_MODE:
@@ -1546,6 +1547,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
 		case NAV_CMD_IMAGE_STOP_CAPTURE:
 		case NAV_CMD_VIDEO_START_CAPTURE:
 		case NAV_CMD_VIDEO_STOP_CAPTURE:
+		case NAV_CMD_DO_CONTROL_VIDEO:
 		case NAV_CMD_DO_MOUNT_CONFIGURE:
 		case NAV_CMD_DO_MOUNT_CONTROL:
 		case NAV_CMD_DO_SET_ROI:

src/modules/mavlink/mavlink_receiver.cpp

@@ -533,6 +533,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_RANGE:
 			actuator_controls.control[actuator_controls_s::INDEX_CAMERA_ZOOM] = cmd_mavlink.param2 / 50.0f - 1.0f;
 			break;
+
 		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_STEP:
 		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS:
 		case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH:

src/modules/navigator/mission_block.cpp

@@ -93,6 +93,7 @@ MissionBlock::is_mission_item_reached()
 	case NAV_CMD_IMAGE_STOP_CAPTURE:
 	case NAV_CMD_VIDEO_START_CAPTURE:
 	case NAV_CMD_VIDEO_STOP_CAPTURE:
+	case NAV_CMD_DO_CONTROL_VIDEO:
 	case NAV_CMD_DO_MOUNT_CONFIGURE:
 	case NAV_CMD_DO_MOUNT_CONTROL:
 	case NAV_CMD_DO_SET_ROI:

src/modules/navigator/mission_feasibility_checker.cpp

@@ -259,6 +259,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
 		    missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
 		    missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
 		    missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
+		    missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
 		    missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
 		    missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
 		    missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
@@ -384,6 +385,7 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
 					  missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
 					  missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
 					  missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
+					  missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
 					  missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
 					  missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
 					  missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&

src/modules/navigator/navigation.h

@@ -76,6 +76,7 @@ enum NAV_CMD {
 	NAV_CMD_DO_SET_ROI_LOCATION = 195,
 	NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196,
 	NAV_CMD_DO_SET_ROI_NONE = 197,
+	NAV_CMD_DO_CONTROL_VIDEO = 200,
 	NAV_CMD_DO_SET_ROI = 201,
 	NAV_CMD_DO_DIGICAM_CONTROL = 203,
 	NAV_CMD_DO_MOUNT_CONFIGURE = 204,