add camera capture mode and edge params

src/drivers/camera_capture/camera_capture.cpp

@@ -54,6 +54,8 @@ CameraCapture::CameraCapture() :
 	_command_ack_pub(nullptr),
 	_command_sub(-1),
 	_camera_capture_feedback(false),
+	_camera_capture_mode(0),
+	_camera_capture_edge(0),
 	_capture_seq(0),
 	_last_fall_time(0),
 	_last_exposure_time(0),
@@ -69,6 +71,12 @@ CameraCapture::CameraCapture() :
 	_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
 	param_get(_p_camera_capture_feedback, &_camera_capture_feedback);
 
+	_p_camera_capture_mode = param_find("CAM_CAP_MODE");
+	param_get(_p_camera_capture_mode, &_camera_capture_mode);
+
+	_p_camera_capture_edge = param_find("CAM_CAP_EDGE");
+	param_get(_p_camera_capture_edge, &_camera_capture_edge);
+
 	if (_camera_capture_feedback != 0) {
 		struct camera_trigger_s trigger = {};
 		_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
@@ -88,7 +96,13 @@ CameraCapture::capture_callback(uint32_t chan_index,
 	if (_last_fall_time > 0) {
 		struct camera_trigger_s	trigger {};
 
-		trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2);	// Get timestamp of mid-exposure
+		if (_camera_capture_mode == 0) {
+			trigger.timestamp = hrt_absolute_time();
+
+		} else {
+			trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2);	// Get timestamp of mid-exposure
+		}
+
 		trigger.seq = _capture_seq++;
 
 		if (_camera_capture_feedback != 0) {
@@ -182,12 +196,26 @@ CameraCapture::set_capture_control(bool enabled)
 {
 	if (enabled) {
 		// register callbacks
-		//up_input_capture_set(4, Both, 0, &CameraCapture::capture_trampoline, this);
+		switch (_camera_capture_edge) {
-		up_input_capture_set(5, Falling, 0, &CameraCapture::capture_trampoline, this);
+		case 0:
+			up_input_capture_set(5, Rising, 0, &CameraCapture::capture_trampoline, this);
+			break;
+
+		case 1:
+			up_input_capture_set(5, Falling, 0, &CameraCapture::capture_trampoline, this);
+			break;
+
+		case 2:
+			up_input_capture_set(5, Both, 0, &CameraCapture::capture_trampoline, this);
+			break;
+
+		default:
+			break;
+		}
+
 		_capture_enabled = true;
 
 	} else {
-		//up_input_capture_set(4, Disabled, 0, NULL, NULL);
 		up_input_capture_set(5, Disabled, 0, NULL, NULL);
 		_capture_enabled = false;
 	}

src/drivers/camera_capture/camera_capture.hpp

@@ -114,6 +114,10 @@ private:
 	float			_strobe_delay;
 	param_t 		_p_camera_capture_feedback;
 	int32_t			_camera_capture_feedback;
+	param_t			_p_camera_capture_mode;
+	int32_t			_camera_capture_mode;
+	param_t			_p_camera_capture_edge;
+	int32_t			_camera_capture_edge;
 
 	// Signal capture statistics
 	uint32_t		_capture_seq;

src/drivers/camera_capture/camera_capture_params.c

@@ -53,10 +53,35 @@ PARAM_DEFINE_FLOAT(CAM_CAP_DELAY, 1.0f);
 /**
  * Camera capture feedback
  *
- * Enables camera feedback from hotshoe on camera..
+ * Enables camera capture feedback
  *
  * @boolean
  * @group Camera Control
  * @reboot_required true
  */
 PARAM_DEFINE_INT32(CAM_CAP_FBACK, 0);
+
+/**
+ * Camera capture timestamping mode
+ *
+ * Change time measurement
+ *
+ * @value 0 Get absolute timestamp
+ * @value 1 Get timestamp of mid exposure
+ *
+ * @group Camera Control
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(CAM_CAP_MODE, 0);
+
+/**
+ * Camera capture edge
+ *
+ * @value 0 Rising edge
+ * @value 1 Falling edge
+ * @value 2 Both edges
+ *
+ * @group Camera Control
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);