From 0ec322ee47e31b9c82d0e701753764aefa425895 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 11 Oct 2013 21:30:01 +1100
Subject: [PATCH] Plane: support MAV_CMD_DO_SET_CAM_TRIGG_DIST

---
 ArduPlane/GCS_Mavlink.pde    | 9 +++++++++
 ArduPlane/commands_logic.pde | 4 ++++
 2 files changed, 13 insertions(+)

diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 77e2dd8402..0c98ee5ad8 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1385,6 +1385,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             param2 = tell_command.alt;
             param1 = tell_command.p1;
             break;
+
+        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
+            param1 = tell_command.alt;
+            break;
         }
 
         mavlink_msg_mission_item_send(chan,msg->sysid,
@@ -1677,6 +1681,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_DIGICAM_CONTROL:
             break;
 
+        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
+            // use alt so we can support 32 bit values
+            tell_command.alt = packet.param1;
+            break;
+
         default:
             result = MAV_MISSION_UNSUPPORTED;
             break;
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index c930f8f218..ad740b204c 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -116,6 +116,10 @@ static void handle_process_do_command()
     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_take_picture();
         break;
+
+    case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
+        camera.set_trigger_distance(next_nonnav_command.alt);
+        break;
 #endif
 
 #if MOUNT == ENABLED