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Camera Capture - Use falling edge only

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This commit is contained in:
bresch
2019-02-10 18:07:44 -05:00
committed by Daniel Agar
parent 7906bff914
commit 5229882470
1 changed files with 5 additions and 6 deletions
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src/drivers/camera_capture/camera_capture.cpp
+5 -6
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@@ -79,11 +79,7 @@ CameraCapture::capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
if (edge_state == 0) { // Falling edge
// Timestamp and compensate for strobe delay
_last_fall_time = edge_time - uint64_t(1000 * _strobe_delay);
} else if (edge_state == 1 && _last_fall_time > 0) { // Falling edge and got rising before
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
@@ -94,6 +90,9 @@ CameraCapture::capture_callback(uint32_t chan_index,
_last_exposure_time = edge_time - _last_fall_time;
}
// Timestamp and compensate for strobe delay
_last_fall_time = edge_time - uint64_t(1000 * _strobe_delay);
_capture_overflows = overflow;
}
@@ -176,7 +175,7 @@ CameraCapture::set_capture_control(bool enabled)
if (enabled) {
// register callbacks
//up_input_capture_set(4, Both, 0, &CameraCapture::capture_trampoline, this);
up_input_capture_set(5, Both, 0, &CameraCapture::capture_trampoline, this);
up_input_capture_set(5, Falling, 0, &CameraCapture::capture_trampoline, this);
_capture_enabled = true;
} else {