UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-24 15:27:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat(camera_feedback): gate CAMERA_IMAGE_CAPTURED by param (#27920)

Browse Source 
* feat(camera_feedback): gate CAMERA_IMAGE_CAPTURED by param

Some cameras implementing the MAVLink Camera Protocol (e.g. reached via
TRIG_INTERFACE=MAVLink) report CAMERA_IMAGE_CAPTURED themselves. The
autopilot's camera_feedback also emitted this message, so the ground
station saw duplicate capture messages for every shot.

Add a bool 'report' field to the camera_capture message, set from the new
CAM_CAP_REPORT parameter, and gate the CAMERA_IMAGE_CAPTURED stream on it.
When reporting is disabled the capture is still published and logged for
geotagging; only the MAVLink message to the ground station is suppressed.

CAM_CAP_REPORT applies live (no reboot); it only gates a MAVLink message,
unlike CAM_CAP_FBACK which reconfigures the capture pin.

* fix(camera_feedback): update docs
This commit is contained in:
Julian Oes
2026-07-22 20:03:50 +12:00
committed by GitHub
parent 2829c928c4
commit afa97475f0
8 changed files with 69 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
msg/CameraCapture.msg
View File

@@ -7,3 +7,4 @@ float32 alt # Altitude (AMSL)
float32 ground_distance # Altitude above ground (meters)
float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback
bool report # Report this capture to the ground station (CAMERA_IMAGE_CAPTURED); it is always logged regardless