[jevois] add option to send VISUAL_DETECTION ABI message from jevois …

…detection
paparazzi · Oct 8, 2019 · d5656c9 · d5656c9
1 parent bc28aa8
commit d5656c9
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/sw/airborne/modules/sensors/cameras/jevois.c b/sw/airborne/modules/sensors/cameras/jevois.c
@@ -137,6 +137,15 @@ static void jevois_send_message(void)
   // send a FOLLOW_TARGET message in camera frame
   AbiSendMsgFOLLOW_TARGET(CAM_JEVOIS_ID, 0, 0, cam_heading, cam_height, 0.f);
 #endif
+#if JEVOIS_SEND_VISUAL_DETECTION
+  AbiSendMsgVISUAL_DETECTION(CAM_JEVOIS_ID,
+      jevois.msg.coord[0],
+      jevois.msg.coord[1],
+      jevois.msg.dim[0],
+      jevois.msg.dim[1],
+      0,
+      (int16_t)atoi(jevois.msg.id));
+#endif
 }
 
 // raw message parsing function