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AP_Camera: use corrected version of send_to_components

master
Peter Barker 5 years ago committed by Randy Mackay
parent
f94e36a806
commit
422b2cde49
1 changed files with 4 additions and 16 deletions
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  1. 20
      libraries/AP_Camera/AP_Camera.cpp

20
libraries/AP_Camera/AP_Camera.cpp
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@ -211,7 +211,6 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
// we cannot process the configure command so convert to mavlink message // we cannot process the configure command so convert to mavlink message
// and send to all components in case they and process it // and send to all components in case they and process it
mavlink_message_t msg;
mavlink_command_long_t mav_cmd_long = {}; mavlink_command_long_t mav_cmd_long = {};
// convert mission command to mavlink command_long // convert mission command to mavlink command_long
@ -224,11 +223,8 @@ void AP_Camera::configure(float shooting_mode, float shutter_speed, float apertu
mav_cmd_long.param6 = cmd_id; mav_cmd_long.param6 = cmd_id;
mav_cmd_long.param7 = engine_cutoff_time; mav_cmd_long.param7 = engine_cutoff_time;
// Encode Command long into MAVLINK msg
mavlink_msg_command_long_encode(0, 0, &msg, &mav_cmd_long);
// send to all components // send to all components
GCS_MAVLINK::send_to_components(msg); GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&mav_cmd_long, sizeof(mav_cmd_long));
if (_type == AP_Camera::CAMERA_TYPE_BMMCC) { if (_type == AP_Camera::CAMERA_TYPE_BMMCC) {
// Set a trigger for the additional functions that are flip controlled (so far just ISO and Record Start / Stop use this method, will add others if required) // Set a trigger for the additional functions that are flip controlled (so far just ISO and Record Start / Stop use this method, will add others if required)
@ -261,7 +257,6 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
trigger_pic(); trigger_pic();
} }
mavlink_message_t msg;
mavlink_command_long_t mav_cmd_long = {}; mavlink_command_long_t mav_cmd_long = {};
// convert command to mavlink command long // convert command to mavlink command long
@ -273,11 +268,8 @@ void AP_Camera::control(float session, float zoom_pos, float zoom_step, float fo
mav_cmd_long.param5 = shooting_cmd; mav_cmd_long.param5 = shooting_cmd;
mav_cmd_long.param6 = cmd_id; mav_cmd_long.param6 = cmd_id;
// Encode Command long into MAVLINK msg
mavlink_msg_command_long_encode(0, 0, &msg, &mav_cmd_long);
// send to all components // send to all components
GCS_MAVLINK::send_to_components(msg); GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&mav_cmd_long, sizeof(mav_cmd_long));
} }
/* /*
@ -431,16 +423,12 @@ void AP_Camera::take_picture()
trigger_pic(); trigger_pic();
// tell all of our components to take a picture: // tell all of our components to take a picture:
mavlink_command_long_t cmd_msg; mavlink_command_long_t cmd_msg {};
memset(&cmd_msg, 0, sizeof(cmd_msg));
cmd_msg.command = MAV_CMD_DO_DIGICAM_CONTROL; cmd_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
cmd_msg.param5 = 1; cmd_msg.param5 = 1;
// create message
mavlink_message_t msg;
mavlink_msg_command_long_encode(0, 0, &msg, &cmd_msg);
// forward to all components // forward to all components
GCS_MAVLINK::send_to_components(msg); GCS_MAVLINK::send_to_components(MAVLINK_MSG_ID_COMMAND_LONG, (char*)&cmd_msg, sizeof(cmd_msg));
} }
/* /*

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