From 80461fad6b84e2b8021c7706d38d670ae62877a6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 6 Jul 2017 22:52:52 +0200 Subject: [PATCH] Camera trigger: Support triggering one image immediately. This allows to re-enable the distance trigger and immediately take a picture. This is helpful to ensure survey areas are covered on entry and exit. --- src/drivers/camera_trigger/camera_trigger.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index ee3898db1a..b265348e37 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -602,6 +602,12 @@ CameraTrigger::cycle_trampoline(void *arg) } } + // Trigger once immediately if param is set + if (cmd.param3 > 0.0f) { + // Schedule shot + trig->_one_shot = true; + } + cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; } else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL) {