Sub: move common mavlink camera handling up

ArduSub/GCS_Mavlink.cpp

@@ -1133,33 +1133,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
             result = MAV_RESULT_ACCEPTED;
             break;
 
-#if CAMERA == ENABLED
-        case MAV_CMD_DO_DIGICAM_CONFIGURE:
-            sub.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:
-            sub.camera.control(packet.param1,
-                               packet.param2,
-                               packet.param3,
-                               packet.param4,
-                               packet.param5,
-                               packet.param6);
-            result = MAV_RESULT_ACCEPTED;
-            break;
-        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
-            sub.camera.set_trigger_distance(packet.param1);
-            result = MAV_RESULT_ACCEPTED;
-            break;
-#endif // CAMERA == ENABLED
         case MAV_CMD_DO_MOUNT_CONTROL:
 #if MOUNT == ENABLED
             sub.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@@ -1556,17 +1529,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
         break;
 #endif // AC_FENCE == ENABLED
 
-#if CAMERA == ENABLED
-        //deprecated.  Use MAV_CMD_DO_DIGICAM_CONFIGURE
-    case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:      // MAV ID: 202
-        break;
-
-        //deprecated.  Use MAV_CMD_DO_DIGICAM_CONTROL
-    case MAVLINK_MSG_ID_DIGICAM_CONTROL:
-        sub.camera.control_msg(msg);
-        break;
-#endif // CAMERA == ENABLED
-
 #if MOUNT == ENABLED
         //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE:        // MAV ID: 204
@@ -1704,6 +1666,15 @@ AP_GPS *GCS_MAVLINK_Sub::get_gps() const
     return &sub.gps;
 }
 
+AP_Camera *GCS_MAVLINK_Sub::get_camera() const
+{
+#if CAMERA == ENABLED
+    return &sub.camera;
+#else
+    return nullptr;
+#endif
+}
+
 AP_ServoRelayEvents *GCS_MAVLINK_Sub::get_servorelayevents() const
 {
     return &sub.ServoRelayEvents;

ArduSub/GCS_Mavlink.h

@@ -17,6 +17,7 @@ protected:
     Compass *get_compass() const override;
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override;
+    AP_Camera *get_camera() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_GPS *get_gps() const override;