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camera trigger : remove redundant timestamps

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This commit is contained in:
Mohammed Kabir
2015-05-22 14:24:54 +05:30
parent a1c2f24837
commit df037d97c1
1 changed files with 3 additions and 8 deletions
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src/modules/camera_trigger/camera_trigger.cpp
+3 -8
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@@ -105,8 +105,6 @@ private:
uint32_t _trigger_seq;
bool _trigger_enabled;
hrt_abstime _trigger_timestamp;
int _sensor_sub;
int _vcommand_sub;
@@ -151,7 +149,6 @@ CameraTrigger::CameraTrigger() :
_transfer_time(0.0f),
_trigger_seq(0),
_trigger_enabled(true),
_trigger_timestamp(0),
_sensor_sub(-1),
_vcommand_sub(-1),
_trigger_pub(-1),
@@ -273,12 +270,9 @@ CameraTrigger::poll(void *arg)
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 ) {
else
{
engage(trig);
trig->_trigger_timestamp = hrt_absolute_time();
hrt_call_after(&trig->_firecall, trig->_activation_time*1000, (hrt_callout)&CameraTrigger::disengage, trig);
orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor);
@@ -291,6 +285,7 @@ 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);
}