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allow DO_CONTROL_VIDEO in missions

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This commit is contained in:
David Jablonski
2020-01-27 17:56:50 +01:00
committed by Julian Oes
parent 6bd191a24e
commit 536cd6cb1a
6 changed files with 7 additions and 1 deletions
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msg/actuator_controls.msg
-1
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@@ -9,7 +9,6 @@ uint8 INDEX_FLAPS = 4
uint8 INDEX_SPOILERS = 5
uint8 INDEX_AIRBRAKES = 6
uint8 INDEX_LANDING_GEAR = 7
uint8 INDEX_GIMBAL_SHUTTER = 3
uint8 INDEX_CAMERA_ZOOM = 4
src/modules/mavlink/mavlink_mission.cpp
+2
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@@ -1473,6 +1473,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_IMAGE_STOP_CAPTURE:
case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
case MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL:
case MAV_CMD_SET_CAMERA_MODE:
@@ -1546,6 +1547,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
case NAV_CMD_DO_CONTROL_VIDEO:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
src/modules/mavlink/mavlink_receiver.cpp
+1
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@@ -533,6 +533,7 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_RANGE:
actuator_controls.control[actuator_controls_s::INDEX_CAMERA_ZOOM] = cmd_mavlink.param2 / 50.0f - 1.0f;
break;
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_STEP:
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_CONTINUOUS:
case vehicle_command_s::VEHICLE_CAMERA_ZOOM_TYPE_FOCAL_LENGTH:
src/modules/navigator/mission_block.cpp
+1
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@@ -93,6 +93,7 @@ MissionBlock::is_mission_item_reached()
case NAV_CMD_IMAGE_STOP_CAPTURE:
case NAV_CMD_VIDEO_START_CAPTURE:
case NAV_CMD_VIDEO_STOP_CAPTURE:
case NAV_CMD_DO_CONTROL_VIDEO:
case NAV_CMD_DO_MOUNT_CONFIGURE:
case NAV_CMD_DO_MOUNT_CONTROL:
case NAV_CMD_DO_SET_ROI:
src/modules/navigator/mission_feasibility_checker.cpp
+2
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@@ -259,6 +259,7 @@ MissionFeasibilityChecker::checkMissionItemValidity(const mission_s &mission)
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
@@ -384,6 +385,7 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
missionitem.nav_cmd != NAV_CMD_DO_CONTROL_VIDEO &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
src/modules/navigator/navigation.h
+1
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@@ -76,6 +76,7 @@ enum NAV_CMD {
NAV_CMD_DO_SET_ROI_LOCATION = 195,
NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196,
NAV_CMD_DO_SET_ROI_NONE = 197,
NAV_CMD_DO_CONTROL_VIDEO = 200,
NAV_CMD_DO_SET_ROI = 201,
NAV_CMD_DO_DIGICAM_CONTROL = 203,
NAV_CMD_DO_MOUNT_CONFIGURE = 204,