GCS_MAVLink: Add handler for CAMERA_CAPTURE_STATUS request

ArduPilot · Nov 8, 2023 · cd7c20d · cd7c20d
1 parent 2e66347
commit cd7c20d
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Showing 2 changed files with 12 additions and 0 deletions.
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -999,6 +999,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_CAMERA_INFORMATION,    MSG_CAMERA_INFORMATION},
         { MAVLINK_MSG_ID_CAMERA_SETTINGS,       MSG_CAMERA_SETTINGS},
         { MAVLINK_MSG_ID_CAMERA_FOV_STATUS,     MSG_CAMERA_FOV_STATUS},
+        { MAVLINK_MSG_ID_CAMERA_CAPTURE_STATUS, MSG_CAMERA_CAPTURE_STATUS},
 #endif
 #if HAL_MOUNT_ENABLED
         { MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, MSG_GIMBAL_DEVICE_ATTITUDE_STATUS},
@@ -5785,6 +5786,16 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         }
         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);
+        }
+        break;
 #endif
 
     case MSG_SYSTEM_TIME:

diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
@@ -52,6 +52,7 @@ enum ap_message : uint8_t {
     MSG_CAMERA_INFORMATION,
     MSG_CAMERA_SETTINGS,
     MSG_CAMERA_FOV_STATUS,
+    MSG_CAMERA_CAPTURE_STATUS,
     MSG_GIMBAL_DEVICE_ATTITUDE_STATUS,
     MSG_GIMBAL_MANAGER_INFORMATION,
     MSG_GIMBAL_MANAGER_STATUS,