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add camera trigger feedback (input capture when camera actually takes the photo)

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DanielePettenuzzo
2019-02-10 18:07:44 -05:00
committed by Daniel Agar
parent 5229882470
commit 42afc88285
5 changed files with 45 additions and 13 deletions
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src/drivers/camera_capture/camera_capture.cpp
+13 -4
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@@ -53,6 +53,7 @@ CameraCapture::CameraCapture() :
_trigger_pub(nullptr),
_command_ack_pub(nullptr),
_command_sub(-1),
_hotshoe_trigger_feedback(false),
_capture_seq(0),
_last_fall_time(0),
_last_exposure_time(0),
@@ -65,8 +66,13 @@ CameraCapture::CameraCapture() :
_p_strobe_delay = param_find("CAM_CAP_DELAY");
param_get(_p_strobe_delay, &_strobe_delay);
struct camera_trigger_s trigger = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
_p_hotshoe_trigger_feedback = param_find("CAM_HSHOE_FBACK");
param_get(_p_hotshoe_trigger_feedback, &_hotshoe_trigger_feedback);
if (_hotshoe_trigger_feedback != 0) {
struct camera_trigger_s trigger = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
}
}
CameraCapture::~CameraCapture()
@@ -85,7 +91,9 @@ CameraCapture::capture_callback(uint32_t chan_index,
trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2); // Get timestamp of mid-exposure
trigger.seq = _capture_seq++;
orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
if (_hotshoe_trigger_feedback != 0) {
orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
}
_last_exposure_time = edge_time - _last_fall_time;
}
@@ -201,7 +209,8 @@ void
CameraCapture::start()
{
// start to monitor at low rates for capture control commands
work_queue(LPWORK, &_work, (worker_t)&CameraCapture::cycle_trampoline, this, USEC2TICK(1)); // TODO : is this low rate??!
work_queue(LPWORK, &_work, (worker_t)&CameraCapture::cycle_trampoline, this,
USEC2TICK(1)); // TODO : is this low rate??!
}
void