Copter: support MAV_CMD_DO_SET_CAM_TRIGG_DIST

ArduCopter/GCS_Mavlink.pde

@@ -1406,6 +1406,10 @@ 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,
@@ -1707,6 +1711,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             tell_command.alt = packet.param2;
             tell_command.p1 = packet.param1;
             break;
+
+        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
+            // use alt so we can support 32 bit values
+            tell_command.alt = packet.param1;
+            break;
         }
 
         if(packet.current == 2) {                                               //current = 2 is a flag to tell us this is a "guided mode" waypoint and not for the mission

ArduCopter/commands_logic.pde

@@ -117,6 +117,10 @@ static void process_now_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(command_cond_queue.alt);
+        break;
 #endif
 
 #if MOUNT == ENABLED