From 9c75b9562e904210389a497c8baa46374cbc9927 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 21 Aug 2014 14:39:17 +0200 Subject: Be more permissive with mission component IDs, renamed camera to onboard link but still accepting same commandline syntax --- src/modules/mavlink/mavlink_main.cpp | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) (limited to 'src/modules/mavlink/mavlink_main.cpp') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index c27716f74..d702179f0 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -1229,7 +1229,10 @@ Mavlink::task_main(int argc, char *argv[]) _mode = MAVLINK_MODE_CUSTOM; } else if (strcmp(optarg, "camera") == 0) { - _mode = MAVLINK_MODE_CAMERA; + // left in here for compatibility + _mode = MAVLINK_MODE_ONBOARD; + } else if (strcmp(optarg, "onboard") == 0) { + _mode = MAVLINK_MODE_ONBOARD; } break; @@ -1289,8 +1292,8 @@ Mavlink::task_main(int argc, char *argv[]) warnx("mode: CUSTOM"); break; - case MAVLINK_MODE_CAMERA: - warnx("mode: CAMERA"); + case MAVLINK_MODE_ONBOARD: + warnx("mode: ONBOARD"); break; default: @@ -1393,9 +1396,10 @@ Mavlink::task_main(int argc, char *argv[]) configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f); configure_stream("ATTITUDE_TARGET", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); + configure_stream("OPTICAL_FLOW", 0.5f); break; - case MAVLINK_MODE_CAMERA: + case MAVLINK_MODE_ONBOARD: configure_stream("SYS_STATUS", 1.0f); configure_stream("ATTITUDE", 15.0f); configure_stream("GLOBAL_POSITION_INT", 15.0f); -- cgit v1.2.3