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camera feedback: fix camera_trigger subscription

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DanielePettenuzzo
2018-09-21 17:57:31 +02:00
committed by Daniel Agar
parent 96961c6f9c
commit 4876bb2582
1 changed files with 14 additions and 3 deletions
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src/modules/camera_feedback/camera_feedback.cpp
+14 -3
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@@ -157,7 +157,12 @@ CameraFeedback::task_main()
/* trigger subscription updated */
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
if (!_camera_capture_feedback) {
orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
} else {
orb_copy(ORB_ID(camera_trigger_feedback), _trigger_sub, &trig);
}
/* update geotagging subscriptions */
orb_check(_gpos_sub, &updated);
@@ -208,8 +213,14 @@ CameraFeedback::task_main()
capture.q[3] = att.q[3];
// Indicate that no capture feedback from camera is available
capture.result = -1;
// Indicate that whether capture feedback from camera is available
// What is case 0 for capture.result?
if (!_camera_capture_feedback) {
capture.result = -1;
} else {
capture.result = 1;
}
int instance_id;