Copter: Support do_digicam_x via command_long

ArduCopter/GCS_Mavlink.cpp

@@ -1263,6 +1263,30 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             result = MAV_RESULT_ACCEPTED;
             break;
 
+#if CAMERA == ENABLED
+        case MAV_CMD_DO_DIGICAM_CONFIGURE:
+            copter.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:
+            copter.camera.control(packet.param1,
+                                  packet.param2,
+                                  packet.param3,
+                                  packet.param4,
+                                  packet.param5,
+                                  packet.param6);
+
+            result = MAV_RESULT_ACCEPTED;
+            break;
+#endif // CAMERA == ENABLED
         case MAV_CMD_DO_MOUNT_CONTROL:
 #if MOUNT == ENABLED
             copter.camera_mount.control(packet.param1, packet.param2, packet.param3, (MAV_MOUNT_MODE) packet.param7);
@@ -1724,9 +1748,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 #endif
 
 #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:
         copter.camera.control_msg(msg);
         copter.log_picture();

ArduCopter/commands_logic.cpp

@@ -859,7 +859,13 @@ void Copter::do_roi(const AP_Mission::Mission_Command& cmd)
 void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 {
 #if CAMERA == ENABLED
-    camera.configure_cmd(cmd);
+    camera.configure(cmd.content.digicam_configure.shooting_mode,
+                     cmd.content.digicam_configure.shutter_speed,
+                     cmd.content.digicam_configure.aperture,
+                     cmd.content.digicam_configure.ISO,
+                     cmd.content.digicam_configure.exposure_type,
+                     cmd.content.digicam_configure.cmd_id,
+                     cmd.content.digicam_configure.engine_cutoff_time);
 #endif
 }
 
@@ -867,7 +873,12 @@ void Copter::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
 void Copter::do_digicam_control(const AP_Mission::Mission_Command& cmd)
 {
 #if CAMERA == ENABLED
-    camera.control_cmd(cmd);
+    camera.control(cmd.content.digicam_control.session,
+                   cmd.content.digicam_control.zoom_pos,
+                   cmd.content.digicam_control.zoom_step,
+                   cmd.content.digicam_control.focus_lock,
+                   cmd.content.digicam_control.shooting_cmd,
+                   cmd.content.digicam_control.cmd_id);
     log_picture();
 #endif
 }