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camera_trigger : add transitional support for QGC

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This commit is contained in:
Mohammed Kabir
2017-05-11 18:59:54 +02:00
committed by Lorenz Meier
parent 83888e3e7f
commit 0b93568aa3
1 changed files with 16 additions and 3 deletions
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19
src/drivers/camera_trigger/camera_trigger.cpp
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@@ -575,12 +575,25 @@ CameraTrigger::cycle_trampoline(void *arg)
need_ack = true;
/*
* TRANSITIONAL SUPPORT ADDED AS OF 11th MAY 2017 (v1.6 RELEASE)
*/
if (cmd.param1 > 0.0f) {
trig->_distance = cmd.param1;
param_set(trig->_p_distance, &(trig->_distance));
//param_set(trig->_p_distance, &(trig->_distance));
trig->_trigger_enabled = true;
trig->_trigger_paused = false;
} else if (commandParamToInt(param1) == 0) {
trig->_trigger_paused = true;
} else if (commandParamToInt(param1) == -1) {
trig->_trigger_enabled = false;
}
// We can only control the shutter integration time of the camera in GPIO mode
// We can only control the shutter integration time of the camera in GPIO mode (for now)
if (cmd.param2 > 0.0f) {
if (trig->_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
trig->_activation_time = cmd.param2;
@@ -609,7 +622,7 @@ CameraTrigger::cycle_trampoline(void *arg)
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} // TODO : live geotag retransmission interface
}
}