GCS_MAVLink: move switch for sending camera messages into AP_Camera

neatens GCS_Common a bit, reduces repetitive code
ArduPilot · Jun 5, 2024 · 78fcf70 · 78fcf70
1 parent 5538f67
commit 78fcf70
Showing 1 changed file with 2 additions and 40 deletions.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -6014,58 +6014,20 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
 
 #if AP_CAMERA_ENABLED
     case MSG_CAMERA_FEEDBACK:
-        {
-            AP_Camera *camera = AP::camera();
-            if (camera == nullptr) {
-                break;
-            }
-            CHECK_PAYLOAD_SIZE(CAMERA_FEEDBACK);
-            camera->send_feedback(chan);
-        }
-        break;
     case MSG_CAMERA_INFORMATION:
-        {
-            AP_Camera *camera = AP::camera();
-            if (camera == nullptr) {
-                break;
-            }
-            CHECK_PAYLOAD_SIZE(CAMERA_INFORMATION);
-            camera->send_camera_information(chan);
-        }
-        break;
     case MSG_CAMERA_SETTINGS:
-        {
-            AP_Camera *camera = AP::camera();
-            if (camera == nullptr) {
-                break;
-            }
-            CHECK_PAYLOAD_SIZE(CAMERA_SETTINGS);
-            camera->send_camera_settings(chan);
-        }
-        break;
 #if AP_CAMERA_SEND_FOV_STATUS_ENABLED
     case MSG_CAMERA_FOV_STATUS:
-        {
-            AP_Camera *camera = AP::camera();
-            if (camera == nullptr) {
-                break;
-            }
-            CHECK_PAYLOAD_SIZE(CAMERA_FOV_STATUS);
-            camera->send_camera_fov_status(chan);
-        }
-        break;
 #endif
     case MSG_CAMERA_CAPTURE_STATUS:
         {
             AP_Camera *camera = AP::camera();
             if (camera == nullptr) {
                 break;
             }
-            CHECK_PAYLOAD_SIZE(CAMERA_CAPTURE_STATUS);
-            camera->send_camera_capture_status(chan);
+            return camera->send_mavlink_message(*this, id);
         }
-        break;
-#endif
+#endif  // AP_CAMERA_ENABLED
 
     case MSG_SYSTEM_TIME:
         CHECK_PAYLOAD_SIZE(SYSTEM_TIME);