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Camera trigger: Improve code readability

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This helps to trace the code, no functional changes.
This commit is contained in:
Lorenz Meier
2020-03-07 16:58:58 +01:00
parent 8a6d444467
commit 027e52d402
2 changed files with 8 additions and 8 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+7 -7
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@@ -165,7 +165,7 @@ private:
float _min_interval;
float _distance;
uint32_t _trigger_seq;
hrt_abstime _trigger_timestamp;
hrt_abstime _last_trigger_timestamp;
bool _trigger_enabled;
bool _trigger_paused;
bool _one_shot;
@@ -249,7 +249,7 @@ CameraTrigger::CameraTrigger() :
_min_interval(1.0f /* ms */),
_distance(25.0f /* m */),
_trigger_seq(0),
_trigger_timestamp(0),
_last_trigger_timestamp(0),
_trigger_enabled(false),
_trigger_paused(false),
_one_shot(false),
@@ -272,7 +272,7 @@ CameraTrigger::CameraTrigger() :
// Parameters
_p_interval = param_find("TRIG_INTERVAL");
_p_min_interval = param_find("TRIG_MIN_TIMING");
_p_min_interval = param_find("TRIG_MIN_INTERVA");
_p_distance = param_find("TRIG_DISTANCE");
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
@@ -534,7 +534,7 @@ CameraTrigger::Run()
need_ack = true;
hrt_abstime now = hrt_absolute_time();
if (now - _trigger_timestamp < _min_interval * 1000) {
if (now - _last_trigger_timestamp < _min_interval * 1000) {
// triggering too fast, abort
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
@@ -739,14 +739,14 @@ CameraTrigger::engage(void *arg)
hrt_abstime now = hrt_absolute_time();
if ((trig->_trigger_timestamp > 0) && (now - trig->_trigger_timestamp < trig->_min_interval * 1000)) {
if ((trig->_last_trigger_timestamp > 0) && (now - trig->_last_trigger_timestamp < trig->_min_interval * 1000)) {
return;
}
// Trigger the camera
trig->_camera_interface->trigger(true);
// set last timestamp
trig->_trigger_timestamp = now;
trig->_last_trigger_timestamp = now;
if (trig->_test_shot) {
// do not send messages or increment frame count for test shots
@@ -759,7 +759,7 @@ CameraTrigger::engage(void *arg)
struct camera_trigger_s trigger = {};
// Set timestamp the instant after the trigger goes off
trigger.timestamp = trig->_trigger_timestamp;
trigger.timestamp = now;
timespec tv = {};
px4_clock_gettime(CLOCK_REALTIME, &tv);