From 6ee8e148a202ad71f707bc279150b5b37aa52bce Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 2 Jan 2016 21:20:21 +0100 Subject: [PATCH] Camera trigger: ensure it executes with minimal latency --- src/drivers/camera_trigger/camera_trigger.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index 8442eff639..e3d965aace 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -228,11 +228,11 @@ CameraTrigger::control(bool on) if (on) { // schedule trigger on and off calls - hrt_call_every(&_engagecall, 500, (_interval * 1000), + hrt_call_every(&_engagecall, 0, (_interval * 1000), (hrt_callout)&CameraTrigger::engage, this); // schedule trigger on and off calls - hrt_call_every(&_disengagecall, 500 + (_activation_time * 1000), (_interval * 1000), + hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000), (hrt_callout)&CameraTrigger::disengage, this); } else { @@ -240,7 +240,7 @@ CameraTrigger::control(bool on) hrt_cancel(&_engagecall); hrt_cancel(&_disengagecall); // ensure that the pin is off - hrt_call_after(&_disengagecall, 500, + hrt_call_after(&_disengagecall, 0, (hrt_callout)&CameraTrigger::disengage, this); }