Set rtc_edge_time also in capture_callback

When using an FMU channel as PPS capture GPIO, the rtc_edge_time is now set as well. The delay between actual capture and callback is compensated with the elapsed time of the rtc clock.

src/drivers/camera_capture/camera_capture.cpp

@@ -106,6 +106,11 @@ CameraCapture::capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint
 {
 	_trigger.chan_index = chan_index;
 	_trigger.hrt_edge_time = edge_time;
+
+	timespec tv{};
+	px4_clock_gettime(CLOCK_REALTIME, &tv);
+	_trigger.rtc_edge_time = ts_to_abstime(&tv) - hrt_elapsed_time(&edge_time);
+
 	_trigger.edge_state = edge_state;
 	_trigger.overflow = overflow;
 
@@ -119,7 +124,11 @@ CameraCapture::gpio_interrupt_routine(int irq, void *context, void *arg)
 
 	dev->_trigger.chan_index = 0;
 	dev->_trigger.hrt_edge_time = hrt_absolute_time();
-	px4_clock_gettime(CLOCK_REALTIME, &dev->_trigger.rtc_edge_time);
+
+	timespec tv{};
+	px4_clock_gettime(CLOCK_REALTIME, &tv);
+	dev->_trigger.rtc_edge_time = ts_to_abstime(&tv);
+
 	dev->_trigger.edge_state = 0;
 	dev->_trigger.overflow = 0;
 
@@ -191,7 +200,7 @@ CameraCapture::publish_trigger()
 		_rtc_drift_time = pps_capture.rtc_drift_time;
 	}
 
-	trigger.timestamp_utc = ts_to_abstime(&_trigger.rtc_edge_time) + _rtc_drift_time;
+	trigger.timestamp_utc = _trigger.rtc_edge_time + _rtc_drift_time;
 
 	_trigger_pub.publish(trigger);
 }

src/drivers/camera_capture/camera_capture.hpp

@@ -110,7 +110,7 @@ private:
 	struct _trig_s {
 		uint32_t chan_index;
 		hrt_abstime hrt_edge_time;
-		timespec rtc_edge_time;
+		uint64_t rtc_edge_time;
 		uint32_t edge_state;
 		uint32_t overflow;
 	} _trigger{};