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camera trigger : memset

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This commit is contained in:
Mohammed Kabir 2015-05-20 12:43:44 +05:30
parent be89a7262e
commit 2dde99f0fc
1 changed files with 9 additions and 9 deletions
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18
src/modules/camera_trigger/camera_trigger.cpp
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@ -161,6 +161,9 @@ CameraTrigger::CameraTrigger() :
memset(&_command, 0, sizeof(_command));
memset(&_sensor, 0, sizeof(_sensor));
memset(&_pollcall, 0, sizeof(_pollcall));
memset(&_firecall, 0, sizeof(_firecall));
/* Parameters */
polarity = param_find("TRIG_POLARITY");
activation_time = param_find("TRIG_ACT_TIME");
@ -212,16 +215,16 @@ CameraTrigger::start()
warnx(" invalid trigger polarity setting. stopping.");
stop();
}
poll(this);
hrt_call_every(&_pollcall, 0, 1000, (hrt_callout)&CameraTrigger::poll, this);
}
void
CameraTrigger::stop()
{
hrt_cancel(&_pollcall);
{
hrt_cancel(&_firecall);
hrt_cancel(&_pollcall);
delete camera_trigger::g_camera_trigger;
}
@ -266,17 +269,15 @@ CameraTrigger::poll(void *arg)
}
if(!trig->_trigger_enabled) {
hrt_call_after(&trig->_pollcall, 1000, (hrt_callout)&CameraTrigger::poll, trig);
return;
}
if (hrt_elapsed_time(&trig->_trigger_timestamp) > (trig->_transfer_time + trig->_integration_time)*1000 ) {
if (hrt_elapsed_time(&trig->_trigger_timestamp) >= (trig->_transfer_time + trig->_integration_time)*1000 ) {
engage(trig);
hrt_call_after(&trig->_firecall, trig->_activation_time*1000, (hrt_callout)&CameraTrigger::disengage, trig);
trig->_trigger_timestamp = hrt_absolute_time();
hrt_call_after(&trig->_firecall, trig->_activation_time*1000, (hrt_callout)&CameraTrigger::disengage, trig);
orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor);
@ -289,7 +290,6 @@ CameraTrigger::poll(void *arg)
trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger);
}
hrt_call_after(&trig->_pollcall, (trig->_transfer_time + trig->_integration_time)*1000 , (hrt_callout)&CameraTrigger::poll, trig);
}
}