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

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This commit is contained in:
DanielePettenuzzo
2018-09-18 09:51:43 +02:00
committed by Daniel Agar
parent 6b65eb2225
commit 96961c6f9c
5 changed files with 12 additions and 24 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+4 -11
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@@ -171,7 +171,6 @@ private:
bool _turning_on;
matrix::Vector2f _last_shoot_position;
bool _valid_position;
int32_t _camera_capture_feedback;
int _command_sub;
int _lpos_sub;
@@ -184,7 +183,6 @@ private:
param_t _p_interval;
param_t _p_distance;
param_t _p_interface;
param_t _p_camera_capture_feedback;
trigger_mode_t _trigger_mode;
@@ -248,7 +246,6 @@ CameraTrigger::CameraTrigger() :
_turning_on(false),
_last_shoot_position(0.0f, 0.0f),
_valid_position(false),
_camera_capture_feedback(false),
_command_sub(-1),
_lpos_sub(-1),
_trigger_pub(nullptr),
@@ -272,14 +269,12 @@ CameraTrigger::CameraTrigger() :
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_interface = param_find("TRIG_INTERFACE");
_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_distance, &_distance);
param_get(_p_mode, (int32_t *)&_trigger_mode);
param_get(_p_interface, (int32_t *)&_camera_interface_mode);
param_get(_p_camera_capture_feedback, &_camera_capture_feedback);
switch (_camera_interface_mode) {
#ifdef __PX4_NUTTX
@@ -318,11 +313,9 @@ CameraTrigger::CameraTrigger() :
param_set_no_notification(_p_activation_time, &(_activation_time));
}
if (!_camera_capture_feedback) {
// Advertise critical publishers here, because we cannot advertise in interrupt context
struct camera_trigger_s trigger = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
}
// Advertise critical publishers here, because we cannot advertise in interrupt context
struct camera_trigger_s trigger = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
}
@@ -750,7 +743,7 @@ CameraTrigger::engage(void *arg)
// Trigger the camera
trig->_camera_interface->trigger(true);
if (trig->_test_shot || trig->_camera_capture_feedback) {
if (trig->_test_shot) {
// do not send messages or increment frame count for test shots
return;
}