Add target ID for NAV_CMD_SET_CAMERA_MODE

PX4 · May 23, 2024 · 66934dc · 66934dc
1 parent d97bae2
commit 66934dc
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
@@ -1407,7 +1407,17 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
 
 		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
 			vcmd->target_component = target_camera_component_id;
+		} else {
+			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+		}
+
+		break;
 
+	case NAV_CMD_SET_CAMERA_MODE:
+		target_camera_component_id = static_cast<int>(vcmd->param1); // Target id from param 1
+
+		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
+			vcmd->target_component = target_camera_component_id;
 		} else {
 			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
 		}
@@ -1419,7 +1429,6 @@ void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)
 
 		if (target_camera_component_id > 0 && target_camera_component_id < 256) {
 			vcmd->target_component = target_camera_component_id;
-
 		} else {
 			vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
 		}