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camera trigger : increase free cycling time when we are not enabled

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This commit is contained in:
Mohammed Kabir
2015-06-16 22:55:05 +05:30
parent 6a818ae053
commit 3d92364d9e
1 changed files with 6 additions and 6 deletions
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src/modules/camera_trigger/camera_trigger.cpp
+6 -6
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@@ -166,7 +166,7 @@ CameraTrigger::CameraTrigger() :
memset(&_pollcall, 0, sizeof(_pollcall));
memset(&_firecall, 0, sizeof(_firecall));
/* Parameters */
// Parameters
polarity = param_find("TRIG_POLARITY");
activation_time = param_find("TRIG_ACT_TIME");
integration_time = param_find("TRIG_INT_TIME");
@@ -193,17 +193,17 @@ CameraTrigger::start()
stm32_configgpio(GPIO_GPIO0_OUTPUT);
if(_polarity == 0) {
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1); /* GPIO pin pull high */
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1); // GPIO pin pull high
}
else if(_polarity == 1) {
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0); /* GPIO pin pull low */
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0); // GPIO pin pull low
}
else {
warnx(" invalid trigger polarity setting. stopping.");
stop();
}
poll(this); /* Trampoline call */
poll(this); // Trampoline call
}
@@ -258,7 +258,7 @@ CameraTrigger::poll(void *arg)
}
if(!trig->_trigger_enabled) {
hrt_call_after(&trig->_pollcall, 1000, (hrt_callout)&CameraTrigger::poll, trig);
hrt_call_after(&trig->_pollcall, 1e6, (hrt_callout)&CameraTrigger::poll, trig);
return;
}
else
@@ -268,7 +268,7 @@ CameraTrigger::poll(void *arg)
orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor);
trig->_trigger.timestamp = trig->_sensor.timestamp; /* get IMU timestamp */
trig->_trigger.timestamp = trig->_sensor.timestamp; // get IMU timestamp
trig->_trigger.seq = trig->_trigger_seq++;
if (trig->_trigger_pub != nullptr) {