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Shoot pictures with raspicam and raspberry pi

Hi, currently I’m using AP connected to a raspberry pi 3 and a raspicam (8 MPx model). I write a python script to take pictures and grab exif data from mavros.
But I would like to test another option and it’s mapping using survey flight plan. In order to do that I will need to shoot raspicam with pixhawk command. can someone point me out on how to achieve that? Is AP changing some pixhawk output on every shoot?

Thank!

Servers by jDrones