Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-26 01:17:51 +08:00
Code Issues Actions 5 Packages Projects Releases Wiki Activity

Fix camera trigger via MAVLink when camera capture feedback is enabled

Browse Source 
- camera_trigger module always publishes the camera_trigger msg (independent of the camera feedback)
- Use camera_trigger msg and set the feedback flag
- Subscribing modules determine if the message is relevant based on the feedback message
This commit is contained in:
Michael Schaeuble
2021-10-07 11:03:55 +02:00
committed by Beat Küng
parent 3e4031cf0f
commit ebb657bcf4
5 changed files with 37 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_trigger/camera_trigger.cpp
+18 -32
View File
@@ -200,10 +200,8 @@ private:
param_t _p_min_interval;
param_t _p_distance;
param_t _p_interface;
param_t _p_cam_cap_fback;
trigger_mode_t _trigger_mode{TRIGGER_MODE_NONE};
int32_t _cam_cap_fback{0};
camera_interface_mode_t _camera_interface_mode{CAMERA_INTERFACE_MODE_GPIO};
CameraInterface *_camera_interface{nullptr}; ///< instance of camera interface
@@ -266,7 +264,6 @@ CameraTrigger::CameraTrigger() :
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_interface = param_find("TRIG_INTERFACE");
_p_cam_cap_fback = param_find("CAM_CAP_FBACK");
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
@@ -275,10 +272,6 @@ CameraTrigger::CameraTrigger() :
param_get(_p_mode, (int32_t *)&_trigger_mode);
param_get(_p_interface, (int32_t *)&_camera_interface_mode);
if (_p_cam_cap_fback != PARAM_INVALID) {
param_get(_p_cam_cap_fback, (int32_t *)&_cam_cap_fback);
}
switch (_camera_interface_mode) {
#ifdef __PX4_NUTTX
@@ -320,10 +313,7 @@ CameraTrigger::CameraTrigger() :
// Advertise critical publishers here, because we cannot advertise in interrupt context
camera_trigger_s trigger{};
if (!_cam_cap_fback) {
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
}
_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
}
CameraTrigger::~CameraTrigger()
@@ -835,30 +825,26 @@ CameraTrigger::engage(void *arg)
return;
}
// Publish only if _cam_cap_fback is disabled, otherwise, it is published over camera_capture driver
if (!trig->_cam_cap_fback) {
pps_capture_s pps_capture;
pps_capture_s pps_capture;
if (trig->_pps_capture_sub.update(&pps_capture)) {
trig->_rtc_drift_time = pps_capture.rtc_drift_time;
}
// Send camera trigger message. This messages indicates that we sent
// the camera trigger request. Does not guarantee capture.
camera_trigger_s trigger{};
timespec tv{};
px4_clock_gettime(CLOCK_REALTIME, &tv);
trigger.timestamp_utc = ts_to_abstime(&tv) + trig->_rtc_drift_time;
trigger.seq = trig->_trigger_seq;
trigger.feedback = false;
trigger.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
if (trig->_pps_capture_sub.update(&pps_capture)) {
trig->_rtc_drift_time = pps_capture.rtc_drift_time;
}
// Send camera trigger message. This messages indicates that we sent
// the camera trigger request. Does not guarantee capture.
camera_trigger_s trigger{};
timespec tv{};
px4_clock_gettime(CLOCK_REALTIME, &tv);
trigger.timestamp_utc = ts_to_abstime(&tv) + trig->_rtc_drift_time;
trigger.seq = trig->_trigger_seq;
trigger.feedback = false;
trigger.timestamp = hrt_absolute_time();
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
// increment frame count
trig->_trigger_seq++;
}