Plane: move common mavlink camera handling up

ArduPlane/GCS_Mavlink.cpp

@@ -1118,35 +1118,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             break;
 #endif
 
-#if CAMERA == ENABLED
-        case MAV_CMD_DO_DIGICAM_CONFIGURE:
-            plane.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:
-            plane.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:
-            plane.camera.set_trigger_distance(packet.param1);
-            result = MAV_RESULT_ACCEPTED;
-            break;
-#endif // CAMERA == ENABLED
-
         case MAV_CMD_DO_MOUNT_CONTROL:
 #if MOUNT == ENABLED
             plane.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@@ -1665,21 +1636,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         break;
     }
 
-#if CAMERA == ENABLED
-    //deprecated. Use MAV_CMD_DO_DIGICAM_CONFIGURE
-    case MAVLINK_MSG_ID_DIGICAM_CONFIGURE:
-    {
-        break;
-    }
-
-    //deprecated. Use MAV_CMD_DO_DIGICAM_CONTROL
-    case MAVLINK_MSG_ID_DIGICAM_CONTROL:
-    {
-        plane.camera.control_msg(msg);
-        break;
-    }
-#endif // CAMERA == ENABLED
-
 #if MOUNT == ENABLED
     //deprecated. Use MAV_CMD_DO_MOUNT_CONFIGURE
     case MAVLINK_MSG_ID_MOUNT_CONFIGURE:
@@ -2001,6 +1957,15 @@ AP_GPS *GCS_MAVLINK_Plane::get_gps() const
     return &plane.gps;
 }
 
+AP_Camera *GCS_MAVLINK_Plane::get_camera() const
+{
+#if CAMERA == ENABLED
+    return &plane.camera;
+#else
+    return nullptr;
+#endif
+}
+
 AP_ServoRelayEvents *GCS_MAVLINK_Plane::get_servorelayevents() const
 {
     return &plane.ServoRelayEvents;

ArduPlane/GCS_Mavlink.h

@@ -22,6 +22,7 @@ protected:
     void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
 
     Compass *get_compass() const override;
+    AP_Camera *get_camera() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_Rally *get_rally() const override;
     AP_GPS *get_gps() const override;