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camera feedback: remove CAM_FBACK_MODE param. CAM_CAP_FBACK from camera capture driver will be used instead.

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This commit is contained in:
DanielePettenuzzo
2018-09-18 09:50:28 +02:00
committed by Daniel Agar
parent 011a7f26f4
commit 6b65eb2225
5 changed files with 9 additions and 70 deletions
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src/modules/camera_feedback/camera_feedback.cpp
+7 -9
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@@ -53,13 +53,13 @@ CameraFeedback::CameraFeedback() :
_gpos_sub(-1),
_att_sub(-1),
_capture_pub(nullptr),
_camera_feedback_mode(CAMERA_FEEDBACK_MODE_NONE)
_camera_capture_feedback(false)
{
// Parameters
_p_feedback = param_find("CAM_FBACK_MODE");
_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
param_get(_p_feedback, (int32_t *)&_camera_feedback_mode);
param_get(_p_camera_capture_feedback, (int32_t *)&_camera_capture_feedback);
}
@@ -122,15 +122,13 @@ CameraFeedback::stop()
void
CameraFeedback::task_main()
{
// We only support trigger feedback for now
// This will later be extended to support hardware feedback from the camera.
if (_camera_feedback_mode != CAMERA_FEEDBACK_MODE_TRIGGER) {
return;
if(!_camera_capture_feedback){
_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
} else {
_trigger_sub = orb_subscribe(ORB_ID(camera_trigger_feedback));
}
// Polling sources
_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
struct camera_trigger_s trig = {};
px4_pollfd_struct_t fds[1] = {};