Merge pull request mavlink#1405 from YUNEEC/camerModeSwitchDuringMission

Keep track of camera mode switch done by the autopilot
tianhao111 · Feb 26, 2018 · 99d80e2 · 99d80e2
2 parents f55c976 + c5ef6df
commit 99d80e2
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diff --git a/custom/CHANGELOG.md b/custom/CHANGELOG.md
@@ -1,5 +1,9 @@
 ## DataPilot Release Changelog
 
+### V1.2.71 - Feb 26 2018
+
+*   Keep track of camera mode switch done by the autopilot (during missions). Needs updated camera firmware as well.
+
 ### V1.2.70 - Feb 26 2018
 
 *   Calibrating the E10T camera for its new 4.4mm lens

diff --git a/custom/src/FirmwarePlugin/YuneecCameraControl.cc b/custom/src/FirmwarePlugin/YuneecCameraControl.cc
@@ -799,6 +799,16 @@ YuneecCameraControl::factChanged(Fact* pFact)
         _captureInfoRetries = 0;
         _captureStatusTimer.start(1000);
     }
+    //-- Autopilot is changing the camera mode. We need to keep track of it.
+    if(pFact->name() == kCAM_MODE) {
+        if(_inMissionMode) {
+            if(pFact->rawValue().toUInt() == CAM_MODE_PHOTO || pFact->rawValue().toUInt() == CAM_MODE_SURVEY) {
+                _setCameraMode(CAM_MODE_PHOTO);
+            } else {
+                _setCameraMode(CAM_MODE_VIDEO);
+            }
+        }
+    }
 }
 
 //-----------------------------------------------------------------------------