Add dedicated survey camera plane model

This is to allow us to test triggering properly in SITL
PX4 · May 18, 2019 · d58f77a · d58f77a
1 parent 72fb0ae
commit d58f77a
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Showing 3 changed files with 9 additions and 4 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/1030_plane b/ROMFS/px4fmu_common/init.d-posix/1030_plane
@@ -38,9 +38,6 @@ then
 	param set RWTO_TKOFF 1
 
 	param set WEST_EN 1
-
-	# Distance trigger mode enabled
-	param set TRIG_MODE 4
 fi
 
 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix

diff --git a/ROMFS/px4fmu_common/init.d-posix/1031_plane_cam b/ROMFS/px4fmu_common/init.d-posix/1031_plane_cam
@@ -4,3 +4,11 @@
 #
 
 sh /etc/init.d-posix/1030_plane
+
+if [ $AUTOCNF = yes ]
+then
+	# Camera trigger interface is MAVLink
+	param set TRIG_INTERFACE 3
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
@@ -53,7 +53,7 @@ set(viewers none jmavsim gazebo)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
 set(models none shell
 	if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid solo typhoon_h480
-	plane
+	plane plane_cam
 	standard_vtol tailsitter tiltrotor
 	hippocampus rover)
 set(all_posix_vmd_make_targets)