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camera_capture: change topic namings to make logging, mavlink streaming and geotagging easier

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DanielePettenuzzo
2018-11-15 10:51:33 +01:00
committed by Daniel Agar
parent faf535b040
commit 15abb159a8
5 changed files with 25 additions and 18 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+18 -2
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@@ -183,8 +183,10 @@ private:
param_t _p_interval;
param_t _p_distance;
param_t _p_interface;
param_t _p_cam_cap_fback;
trigger_mode_t _trigger_mode;
int32_t _cam_cap_fback;
camera_interface_mode_t _camera_interface_mode;
CameraInterface *_camera_interface; ///< instance of camera interface
@@ -251,6 +253,7 @@ CameraTrigger::CameraTrigger() :
_trigger_pub(nullptr),
_cmd_ack_pub(nullptr),
_trigger_mode(TRIGGER_MODE_NONE),
_cam_cap_fback(0),
_camera_interface_mode(CAMERA_INTERFACE_MODE_GPIO),
_camera_interface(nullptr)
{
@@ -269,12 +272,14 @@ CameraTrigger::CameraTrigger() :
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_interface = param_find("TRIG_INTERFACE");
_p_cam_cap_fback = param_find("CAM_CAP_FBACK");
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_distance, &_distance);
param_get(_p_mode, (int32_t *)&_trigger_mode);
param_get(_p_interface, (int32_t *)&_camera_interface_mode);
param_get(_p_cam_cap_fback, (int32_t *)&_cam_cap_fback);
switch (_camera_interface_mode) {
#ifdef __PX4_NUTTX
@@ -315,7 +320,13 @@ CameraTrigger::CameraTrigger() :
// Advertise critical publishers here, because we cannot advertise in interrupt context
struct camera_trigger_s trigger = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
if (!_cam_cap_fback) {
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
} else {
_trigger_pub = orb_advertise(ORB_ID(camera_trigger_secondary), &trigger);
}
}
@@ -763,7 +774,12 @@ CameraTrigger::engage(void *arg)
trigger.seq = trig->_trigger_seq;
trigger.feedback = false;
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
if (!trig->_cam_cap_fback) {
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
} else {
orb_publish(ORB_ID(camera_trigger_secondary), trig->_trigger_pub, &trigger);
}
// increment frame count
trig->_trigger_seq++;