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

msg/camera_trigger.msg

@@ -3,3 +3,5 @@ uint64 timestamp_utc # UTC timestamp
 
 uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera
+
+# TOPICS camera_trigger camera_trigger_feedback

src/drivers/camera_capture/camera_capture.cpp

@@ -54,7 +54,6 @@ CameraCapture::CameraCapture() :
 	_command_ack_pub(nullptr),
 	_command_sub(-1),
 	_trig_buffer(nullptr),
-	_camera_capture_feedback(false),
 	_camera_capture_mode(0),
 	_camera_capture_edge(0),
 	_capture_seq(0),
@@ -69,9 +68,6 @@ CameraCapture::CameraCapture() :
 	_p_strobe_delay = param_find("CAM_CAP_DELAY");
 	param_get(_p_strobe_delay, &_strobe_delay);
 
-	_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
-	param_get(_p_camera_capture_feedback, &_camera_capture_feedback);
-
 	_p_camera_capture_mode = param_find("CAM_CAP_MODE");
 	param_get(_p_camera_capture_mode, &_camera_capture_mode);
 
@@ -137,15 +133,13 @@ CameraCapture::publish_trigger()
 		trigger.seq = _capture_seq++;
 		trigger.feedback = true;
 
-		if (_camera_capture_feedback) {
-			if (_trigger_pub == nullptr) {
+		if (_trigger_pub == nullptr) {
 
-				_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+			_trigger_pub = orb_advertise(ORB_ID(camera_trigger_feedback), &trigger);
 
-			} else {
+		} else {
 
-				orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
-			}
+			orb_publish(ORB_ID(camera_trigger_feedback), _trigger_pub, &trigger);
 		}
 
 		_last_exposure_time = trig.edge_time - _last_fall_time;

src/drivers/camera_capture/camera_capture.hpp

@@ -127,8 +127,6 @@ private:
 	// Parameters
 	param_t 		_p_strobe_delay;
 	float			_strobe_delay;
-	param_t 		_p_camera_capture_feedback;
-	int32_t			_camera_capture_feedback;
 	param_t			_p_camera_capture_mode;
 	int32_t			_camera_capture_mode;
 	param_t			_p_camera_capture_edge;

src/drivers/camera_trigger/camera_trigger.cpp

@@ -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;
 	}

src/modules/camera_feedback/camera_feedback.cpp

@@ -122,8 +122,9 @@ CameraFeedback::stop()
 void
 CameraFeedback::task_main()
 {
-	if(!_camera_capture_feedback){
+	if (!_camera_capture_feedback) {
 		_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
+
 	} else {
 		_trigger_sub = orb_subscribe(ORB_ID(camera_trigger_feedback));
 	}