From 7ed8e636896f1dcc060be182eacd0dc7bc2e7035 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Mon, 29 Aug 2016 19:57:55 +0200
Subject: [PATCH] LP-385 - Fix Actuator support for CameraControl

---
 flight/modules/Actuator/actuator.c | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/flight/modules/Actuator/actuator.c b/flight/modules/Actuator/actuator.c
index c716bf5c2..6ad511fdc 100644
--- a/flight/modules/Actuator/actuator.c
+++ b/flight/modules/Actuator/actuator.c
@@ -89,6 +89,7 @@ static xTaskHandle taskHandle;
 static FrameType_t frameType = FRAME_TYPE_MULTIROTOR;
 static SystemSettingsThrustControlOptions thrustType = SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE;
 static bool camStabEnabled;
+static bool camControlEnabled;
 
 static uint8_t pinsMode[MAX_MIX_ACTUATORS];
 // used to inform the actuator thread that actuator update rate is changed
@@ -165,8 +166,8 @@ int32_t ActuatorInitialize()
     HwSettingsOptionalModulesData optionalModules;
     HwSettingsInitialize();
     HwSettingsOptionalModulesGet(&optionalModules);
-    camStabEnabled = (optionalModules.CameraStab == HWSETTINGS_OPTIONALMODULES_ENABLED);
-
+    camStabEnabled    = (optionalModules.CameraStab == HWSETTINGS_OPTIONALMODULES_ENABLED);
+    camControlEnabled = (optionalModules.CameraControl == HWSETTINGS_OPTIONALMODULES_ENABLED);
     // Primary output of this module
     ActuatorCommandInitialize();
 
@@ -471,9 +472,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
                         case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
                             status[ct] = cameraDesired.Yaw;
                             break;
-                        case MIXERSETTINGS_MIXER1TYPE_CAMERATRIGGER:
-                            status[ct] = cameraDesired.Trigger;
-                            break;
                         default:
                             break;
                         }
@@ -486,6 +484,14 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
                         command.Channel[ct] = 0;
                     }
                 }
+
+                if (mixer_type == MIXERSETTINGS_MIXER1TYPE_CAMERATRIGGER) {
+                    if (camControlEnabled) {
+                        CameraDesiredTriggerGet(&status[ct]);
+                    } else {
+                        status[ct] = 0;
+                    }
+                }
             }
 
             // If mixer type is motor we need to find which motor has the highest value and which motor has the lowest value.