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Camera trigger fixes, found by @fkaiser

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This commit is contained in:
Lorenz Meier
2015-08-10 19:57:47 +02:00
parent 24fdb5d532
commit a632f18277
1 changed files with 16 additions and 7 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+16 -7
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@@ -177,7 +177,7 @@ CameraTrigger::CameraTrigger() :
_p_polarity = param_find("TRIG_POLARITY");
_p_interval = param_find("TRIG_INTERVAL");
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_pin = param_find("TRIG_PIN");
struct camera_trigger_s trigger = {};
@@ -196,13 +196,22 @@ CameraTrigger::control(bool on)
// always execute, even if already on
// to reset timings if necessary
// schedule trigger on and off calls
hrt_call_every(&_engagecall, 500, (_interval * 1000),
(hrt_callout)&CameraTrigger::engage, this);
if (on) {
// schedule trigger on and off calls
hrt_call_every(&_engagecall, 500, (_interval * 1000),
(hrt_callout)&CameraTrigger::engage, this);
// schedule trigger on and off calls
hrt_call_every(&_disengagecall, 500 + (_activation_time * 1000), (_interval * 1000),
(hrt_callout)&CameraTrigger::disengage, this);
// schedule trigger on and off calls
hrt_call_every(&_disengagecall, 500 + (_activation_time * 1000), (_interval * 1000),
(hrt_callout)&CameraTrigger::disengage, this);
} else {
// cancel all calls
hrt_cancel(&_engagecall);
hrt_cancel(&_disengagecall);
// ensure that the pin is off
hrt_call_after(&_disengagecall, 500,
(hrt_callout)&CameraTrigger::disengage, this);
}
_trigger_enabled = on;
}