Navigator: Pause and unpause camera triggering on entering and exiting a mission

src/modules/navigator/mission.cpp

@@ -141,10 +141,32 @@ Mission::on_inactive()
 	_work_item_type = WORK_ITEM_TYPE_DEFAULT;
 }
 
+void
+Mission::on_inactivation()
+{
+	// Disable camera trigger
+	vehicle_command_s cmd{};
+	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
+	// Pause trigger
+	cmd.param1 = -1.0f;
+	cmd.param3 = 1.0f;
+	cmd.timestamp = hrt_absolute_time();
+	_navigator->publish_vehicle_cmd(cmd);
+}
+
 void
 Mission::on_activation()
 {
 	set_mission_items();
+
+	// unpause triggering if it was paused
+	vehicle_command_s cmd{};
+	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL;
+	// unpause trigger
+	cmd.param1 = -1.0f;
+	cmd.param3 = 0.0f;
+	cmd.timestamp = hrt_absolute_time();
+	_navigator->publish_vehicle_cmd(cmd);
 }
 
 void

src/modules/navigator/mission.h

@@ -72,6 +72,7 @@ public:
 	~Mission() override = default;
 
 	void on_inactive() override;
+	void on_inactivation() override;
 	void on_activation() override;
 	void on_active() override;