camera_manager: mavlink update

The update requires to set the camera_device_id in this case signalling that it is a MAVLink camera with its own MAVLink component ID.
PX4 · Oct 10, 2024 · eb03f87 · eb03f87
1 parent f1d11a6
commit eb03f87
Showing 1 changed file with 9 additions and 6 deletions.
diff --git a/src/gazebo_camera_manager_plugin.cpp b/src/gazebo_camera_manager_plugin.cpp
@@ -657,7 +657,8 @@ void CameraManagerPlugin::_handle_request_camera_settings(const mavlink_message_
         0,                      // time_boot_ms
         _mode,                  // Camera Mode
         1.0E2 * (_zoom - 1.0)/ (_maxZoom - 1.0),                    // Zoom level
-        NAN);                   // Focus level
+        NAN,                    // Focus level
+	0);                     // MAVLink camera with its own component ID
     _send_mavlink_message(&msg, srcaddr);
 }
 
@@ -678,18 +679,19 @@ void CameraManagerPlugin::_handle_request_video_stream_status(const mavlink_mess
     mavlink_message_t msg;
     mavlink_msg_video_stream_status_pack_chan(
         _systemID,
-        _componentID,                                     // Component ID
+        _componentID,                                           // Component ID
         MAVLINK_COMM_1,
         &msg,
         static_cast<uint8_t>(sid),                              // Stream ID
         VIDEO_STREAM_STATUS_FLAGS_RUNNING,                      // Flags (It's always running)
         30,                                                     // Frame rate
-        _width,                                                  // Horizontal resolution
+        _width,                                                 // Horizontal resolution
         _height,                                                // Vertical resolution
         2048,                                                   // Bit rate (made up)
         0,                                                      // Rotation (none)
-        90                                                      // FOV (made up)
-    );
+        90,                                                     // FOV (made up)
+	0);                                                     // MAVLink camera with its own component ID
+
     _send_mavlink_message(&msg, srcaddr);
 }
 
@@ -801,7 +803,8 @@ void CameraManagerPlugin::_send_capture_status(struct sockaddr* srcaddr)
         interval,                               // image interval
         recording_time_ms,                      // recording time in ms
         available_mib,                          // available storage capacity
-        _imageCounter);                         // total number of images
+        _imageCounter,                          // total number of images
+	0);                                     // MAVLink camera with its own component ID
     _send_mavlink_message(&msg, srcaddr);
 }