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

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This commit is contained in:
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/modules/camera_feedback/camera_feedback.cpp
+3 -13
View File
@@ -122,12 +122,7 @@ CameraFeedback::stop()
void
CameraFeedback::task_main()
{
if (!_camera_capture_feedback) {
_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
} else {
_trigger_sub = orb_subscribe(ORB_ID(camera_trigger_feedback));
}
_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
// Polling sources
struct camera_trigger_s trig = {};
@@ -157,12 +152,7 @@ CameraFeedback::task_main()
/* trigger subscription updated */
if (fds[0].revents & POLLIN) {
if (!_camera_capture_feedback) {
orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
} else {
orb_copy(ORB_ID(camera_trigger_feedback), _trigger_sub, &trig);
}
orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
/* update geotagging subscriptions */
orb_check(_gpos_sub, &updated);
@@ -213,7 +203,7 @@ CameraFeedback::task_main()
capture.q[3] = att.q[3];
// Indicate that whether capture feedback from camera is available
// Indicate whether capture feedback from camera is available
// What is case 0 for capture.result?
if (!_camera_capture_feedback) {
capture.result = -1;
src/modules/logger/logger.cpp
+1
View File
@@ -621,6 +621,7 @@ void Logger::add_default_topics()
add_topic("battery_status", 500);
add_topic("camera_capture");
add_topic("camera_trigger");
add_topic("camera_trigger_secondary");
add_topic("cpuload");
add_topic("distance_sensor", 100);
add_topic("ekf2_innovations", 200);