From e5bc99f55ac11c2ec81c88d8715101f4e5e457f3 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Mon, 27 Feb 2017 19:27:53 -0800
Subject: [PATCH] Add triggerCamera method

---
 src/Vehicle/Vehicle.cc | 9 +++++++++
 src/Vehicle/Vehicle.h  | 2 ++
 2 files changed, 11 insertions(+)

diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index cec74fee1..c2d265162 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -2241,6 +2241,15 @@ void Vehicle::setOfflineEditingDefaultComponentId(int defaultComponentId)
     }
 }
 
+void Vehicle::triggerCamera(void)
+{
+    sendMavCommand(FactSystem::defaultComponentId,
+                   MAV_CMD_DO_DIGICAM_CONTROL,
+                   true,                            // show errors
+                   0.0, 0.0, 0.0, 0.0,              // param 1-4 unused
+                   1.0);                            // trigger camera
+}
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index d8f774d6a..4c6c16dcb 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -409,6 +409,8 @@ public:
     /// Clear Messages
     Q_INVOKABLE void clearMessages();
 
+    Q_INVOKABLE void triggerCamera(void);
+
 #if 0
     // Temporarily removed, waiting for new command implementation
     /// Test motor
-- 
2.22.0