diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 9c2e0178a..2457a7cae 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1653,6 +1653,8 @@ Mavlink::task_main(int argc, char *argv[]) case 'm': if (strcmp(optarg, "custom") == 0) { _mode = MAVLINK_MODE_CUSTOM; + } else if (strcmp(optarg, "camera") == 0) { + _mode = MAVLINK_MODE_CAMERA; } break; @@ -1696,6 +1698,10 @@ Mavlink::task_main(int argc, char *argv[]) warnx("mode: CUSTOM"); break; + case MAVLINK_MODE_CAMERA: + warnx("mode: CAMERA"); + break; + default: warnx("ERROR: Unknown mode"); break; @@ -1765,6 +1771,13 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult); break; + case MAVLINK_MODE_CAMERA: + configure_stream("SYS_STATUS", 1.0f); + configure_stream("ATTITUDE", 20.0f); + configure_stream("GLOBAL_POSITION_INT", 20.0f); + configure_stream("CAMERA_CAPTURE", 1.0f); + break; + default: break; } |