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camera trigger : fix memset

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This commit is contained in:
Mohammed Kabir
2015-05-18 10:03:00 +05:30
parent 239c8dc7dc
commit ecd2762281
1 changed files with 13 additions and 15 deletions
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src/modules/camera_trigger/camera_trigger.cpp
+13 -15
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@@ -97,7 +97,6 @@ private:
struct hrt_call _firecall;
int _gpio_fd;
int _mavlink_fd; /**< mavlink log device handle */
int _polarity;
float _activation_time;
@@ -146,7 +145,6 @@ CameraTrigger *g_camera_trigger;
CameraTrigger::CameraTrigger() :
pin(1),
_gpio_fd(-1),
_mavlink_fd(-1),
_polarity(0),
_activation_time(0.0f),
_integration_time(0.0f),
@@ -161,7 +159,7 @@ CameraTrigger::CameraTrigger() :
{
memset(&_trigger, 0, sizeof(_trigger));
memset(&_command, 0, sizeof(_command));
memset(&_command, 0, sizeof(_sensor));
memset(&_sensor, 0, sizeof(_sensor));
/* Parameters */
polarity = param_find("TRIG_POLARITY");
@@ -180,11 +178,11 @@ CameraTrigger::start()
{
_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
if (_gpio_fd < 0) {
warnx("GPIO device open fail"); // TODO: errx
warnx("GPIO device open fail"); // TODO
stop();
}
else
{
@@ -214,8 +212,6 @@ CameraTrigger::start()
warnx(" invalid trigger polarity setting. stopping.");
stop();
}
hrt_call_every(&_pollcall, 0, 1000, (hrt_callout)&CameraTrigger::poll, this);
}
void
@@ -246,7 +242,6 @@ CameraTrigger::poll(void *arg)
{
if(trig->_trigger_enabled)
{
mavlink_log_info(trig->_mavlink_fd, "camera trigger disabled");
trig->_trigger_enabled = false ;
}
}
@@ -254,7 +249,6 @@ CameraTrigger::poll(void *arg)
{
if(!trig->_trigger_enabled)
{
mavlink_log_info(trig->_mavlink_fd, "camera trigger enabled");
trig->_trigger_enabled = true ;
}
}
@@ -262,14 +256,17 @@ CameraTrigger::poll(void *arg)
// Set trigger rate from command
if(trig->_command.param2 > 0)
{
trig->_integration_time = trig->_command.param2;
param_set(trig->integration_time, &(trig->_integration_time));
trig->_integration_time = trig->_command.param2;
param_set(trig->integration_time, &(trig->_integration_time));
}
}
}
if(!trig->_trigger_enabled)
if(!trig->_trigger_enabled) {
hrt_call_after(&trig->_pollcall, 1000, (hrt_callout)&CameraTrigger::poll, trig);
return;
}
if (hrt_elapsed_time(&trig->_trigger_timestamp) > (trig->_transfer_time + trig->_integration_time)*1000 ) {
@@ -280,7 +277,7 @@ CameraTrigger::poll(void *arg)
orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor);
trig->_trigger.timestamp = trig->_sensor.timestamp;
trig->_trigger.timestamp = trig->_sensor.timestamp; /* get IMU timestamp */
trig->_trigger.seq = trig->_trigger_seq++;
if (trig->_trigger_pub > 0) {
@@ -288,9 +285,10 @@ CameraTrigger::poll(void *arg)
} else {
trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger);
}
hrt_call_after(&trig->_pollcall, (trig->_transfer_time + trig->_integration_time)*1000 , (hrt_callout)&CameraTrigger::poll, trig);
}
}
void