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afa97475f0
* 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
11 lines
666 B
Plaintext
11 lines
666 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_utc # Capture time in UTC / GPS time
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uint32 seq # Image sequence number
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float64 lat # Latitude in degrees (WGS84)
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float64 lon # Longitude in degrees (WGS84)
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float32 alt # Altitude (AMSL)
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float32 ground_distance # Altitude above ground (meters)
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float32[4] q # Attitude of the camera relative to NED earth-fixed frame when using a gimbal, otherwise vehicle attitude
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int8 result # 1 for success, 0 for failure, -1 if camera does not provide feedback
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bool report # Report this capture to the ground station (CAMERA_IMAGE_CAPTURED); it is always logged regardless
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