Hi, im trying to get MAV_CMD_SET_CAMERA_MODE forwarded by PX4 in a MAVLINK_MSG_ID_CAMERA_SETTINGS message, but the message is not forwarded!!!
Things that has been done:
sending Command from QGC like this:
sendMavCommand(_defaultComponentId,
MAV_CMD_SET_CAMERA_MODE,
true,
0.0, 5.0, 0.0, 0.0,
1.0);
According to mavlin.io I can use second parameter: second parameter is used
On PX4 I created:
camera_mode.msg
uint64 timestamp
uint64 timestamp_utc
uint32 mode
bool feedback
addad msg to Cmake so that camaera_mode.h topic got generated
created CAMERA_MODE.hpp steam that should publish MAVLINK_MSG_ID_CAMERA_SETTINGS message when the topic is updaged added CAMERA_MODE stream to mavlink_main.cpp:
private:
uORB::Subscription _camera_mode_sub {ORB_ID(camera_mode)};
bool send () override
{
camera_mode_s camera_mode;
if(_camera_mode_sub.update(&camera_mode))
{
mavlink_camera_settings_t msg{};
msg.target = mavlink_system.sysid;
msg.mode_id = camera_mode.mode;
msg.time_boot_ms = camera_mode.timestamp;
msg._padding0 = camera_mode._padding0;
}
mavlink_msg_camera_settings_send_struct(_mavlink->get_channel(), &msg);
}
But the mavlink message is not getting forwarded by PX4, probably because subscription is not updated. Where am I wrong here?
