fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 11:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

camera trigger and camera capture publish on two different topics and camera feedback module uses CAM_CAP_FBACK param to choose between the two.

Browse Source
This commit is contained in:
DanielePettenuzzo
2019-02-10 18:07:44 -05:00
committed by Daniel Agar
parent 6b65eb2225
commit 96961c6f9c
5 changed files with 12 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_capture/camera_capture.cpp
+4 -10
View File
@@ -54,7 +54,6 @@ CameraCapture::CameraCapture() :
_command_ack_pub(nullptr),
_command_sub(-1),
_trig_buffer(nullptr),
_camera_capture_feedback(false),
_camera_capture_mode(0),
_camera_capture_edge(0),
_capture_seq(0),
@@ -69,9 +68,6 @@ CameraCapture::CameraCapture() :
_p_strobe_delay = param_find("CAM_CAP_DELAY");
param_get(_p_strobe_delay, &_strobe_delay);
_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);
@@ -137,15 +133,13 @@ CameraCapture::publish_trigger()
trigger.seq = _capture_seq++;
trigger.feedback = true;
if (_camera_capture_feedback) {
if (_trigger_pub == nullptr) {
if (_trigger_pub == nullptr) {
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
_trigger_pub = orb_advertise(ORB_ID(camera_trigger_feedback), &trigger);
} else {
} else {
orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
}
orb_publish(ORB_ID(camera_trigger_feedback), _trigger_pub, &trigger);
}
_last_exposure_time = trig.edge_time - _last_fall_time;
src/drivers/camera_capture/camera_capture.hpp
-2
View File
@@ -127,8 +127,6 @@ private:
// Parameters
param_t _p_strobe_delay;
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;