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Always trigger all cameras #21684

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Jun 9, 2023
Merged

Always trigger all cameras #21684

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70 changes: 37 additions & 33 deletions src/modules/mavlink/streams/CAMERA_TRIGGER.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,8 @@ class MavlinkStreamCameraTrigger : public MavlinkStream
};
int _sequence {1};

static constexpr uint8_t num_cameras = 6; // Mavlink has reserved component IDs for six cameras

bool send() override
{
camera_trigger_s camera_trigger;
Expand All @@ -86,39 +88,41 @@ class MavlinkStreamCameraTrigger : public MavlinkStream

_camera_status_sub.update(&_camera_status);

vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 0.0f; // all cameras
vcmd.param2 = 0.0f; // duration 0 because only taking one picture
vcmd.param3 = 1.0f; // only take one
vcmd.param4 = (float)_sequence++;
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
vcmd.param7 = NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = _camera_status.active_comp_id;

MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());


// TODO: move this camera_trigger and publish as a vehicle_command
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t command_long_msg{};

command_long_msg.target_system = _camera_status.active_sys_id;
command_long_msg.target_component = _camera_status.active_comp_id;
command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
command_long_msg.confirmation = 0;
command_long_msg.param1 = NAN;
command_long_msg.param2 = NAN;
command_long_msg.param3 = NAN;
command_long_msg.param4 = NAN;
command_long_msg.param5 = 1; // take 1 picture
command_long_msg.param6 = NAN;
command_long_msg.param7 = NAN;

mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg);
for (int i_camera = 0; i_camera < num_cameras; i_camera++) {
vehicle_command_s vcmd{};
vcmd.timestamp = hrt_absolute_time();
vcmd.param1 = 0.0f; // all cameras
vcmd.param2 = 0.0f; // duration 0 because only taking one picture
vcmd.param3 = 1.0f; // only take one
vcmd.param4 = (float)_sequence++;
vcmd.param5 = (double)NAN;
vcmd.param6 = (double)NAN;
vcmd.param7 = NAN;
vcmd.command = MAV_CMD_IMAGE_START_CAPTURE;
vcmd.target_system = mavlink_system.sysid;
vcmd.target_component = i_camera + MAV_COMP_ID_CAMERA;

MavlinkCommandSender::instance().handle_vehicle_command(vcmd, _mavlink->get_channel());


// TODO: move this camera_trigger and publish as a vehicle_command
/* send MAV_CMD_DO_DIGICAM_CONTROL*/
mavlink_command_long_t command_long_msg{};

command_long_msg.target_system = _camera_status.active_sys_id;
command_long_msg.target_component = i_camera + MAV_COMP_ID_CAMERA;
command_long_msg.command = MAV_CMD_DO_DIGICAM_CONTROL;
command_long_msg.confirmation = 0;
command_long_msg.param1 = NAN;
command_long_msg.param2 = NAN;
command_long_msg.param3 = NAN;
command_long_msg.param4 = NAN;
command_long_msg.param5 = 1; // take 1 picture
command_long_msg.param6 = NAN;
command_long_msg.param7 = NAN;

mavlink_msg_command_long_send_struct(_mavlink->get_channel(), &command_long_msg);
}

return true;
}
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