Navigator: move disable camera trigger on mission inactivation to seperate function

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/navigator/mission.cpp

@@ -161,14 +161,7 @@ Mission::on_inactive()
 void
 Mission::on_inactivation()
 {
-	// Disable camera trigger
+	_navigator->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;
-	_navigator->publish_vehicle_cmd(&cmd);
-
 	_navigator->stop_capturing_images();
 	_navigator->release_gimbal_control();
 

src/modules/navigator/navigator.h

@@ -303,7 +303,9 @@ public:
 	void release_gimbal_control();
 
 	void calculate_breaking_stop(double &lat, double &lon, float &yaw);
+
 	void stop_capturing_images();
+	void disable_camera_trigger();
 
 	void mode_completed(uint8_t nav_state, uint8_t result = mode_completed_s::RESULT_SUCCESS);
 

src/modules/navigator/navigator_main.cpp

@@ -1527,6 +1527,18 @@ void Navigator::mode_completed(uint8_t nav_state, uint8_t result)
 	_mode_completed_pub.publish(mode_completed);
 }
 
+
+void Navigator::disable_camera_trigger()
+{
+	// 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;
+	publish_vehicle_cmd(&cmd);
+}
+
 int Navigator::print_usage(const char *reason)
 {
 	if (reason) {