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AP_Camera: fixed CAM_MIN_INTERVAL

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delay the next photo until minimum interval is met, which is what the
documentation says. This fixes a nasty bug with mission plans where an
extra photo can be triggered by a camera trigger in a mission which
results in the number of CAM msgs being more than the number of images
on the microSD, which makes the mapping run unusable
This commit is contained in:
Andrew Tridgell 2022-11-07 21:03:43 +11:00 committed by Randy Mackay
parent a17d9a6156
commit e56ba513ba
2 changed files with 18 additions and 11 deletions
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28
libraries/AP_Camera/AP_Camera.cpp
View File

@ -379,9 +379,9 @@ void AP_Camera::update()
const AP_AHRS &ahrs = AP::ahrs(); const AP_AHRS &ahrs = AP::ahrs();
Location current_loc; Location current_loc;
if (!ahrs.get_location(current_loc)) {
// completely ignore this failure! AHRS will provide its best guess. // ignore failure - AHRS will provide its best guess
} IGNORE_RETURN(ahrs.get_location(current_loc));
if (_last_location.lat == 0 && _last_location.lng == 0) { if (_last_location.lat == 0 && _last_location.lng == 0) {
_last_location = current_loc; _last_location = current_loc;
@ -405,15 +405,7 @@ void AP_Camera::update()
return; return;
} }
uint32_t tnow = AP_HAL::millis();
if (tnow - _last_photo_time < (unsigned) _min_interval) {
return;
}
take_picture(); take_picture();
_last_location = current_loc;
_last_photo_time = tnow;
} }
/* /*
@ -498,6 +490,17 @@ void AP_Camera::log_picture()
// take_picture - take a picture // take_picture - take a picture
void AP_Camera::take_picture() void AP_Camera::take_picture()
{ {
uint32_t tnow = AP_HAL::millis();
if (tnow - _last_photo_time < (unsigned) _min_interval) {
_trigger_pending = true;
return;
}
_trigger_pending = false;
IGNORE_RETURN(AP::ahrs().get_location(_last_location));
_last_photo_time = tnow;
// take a local picture: // take a local picture:
trigger_pic(); trigger_pic();
@ -593,6 +596,9 @@ void AP_Camera::prep_mavlink_msg_camera_feedback(uint64_t timestamp_us)
*/ */
void AP_Camera::update_trigger() void AP_Camera::update_trigger()
{ {
if (_trigger_pending) {
take_picture();
}
trigger_pic_cleanup(); trigger_pic_cleanup();
if (_camera_trigger_logged != _camera_trigger_count) { if (_camera_trigger_logged != _camera_trigger_count) {

1
libraries/AP_Camera/AP_Camera.h
View File

@ -124,6 +124,7 @@ private:
AP_Int16 _min_interval; // Minimum time between shots required by camera AP_Int16 _min_interval; // Minimum time between shots required by camera
AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera AP_Int16 _max_roll; // Maximum acceptable roll angle when trigging camera
uint32_t _last_photo_time; // last time a photo was taken uint32_t _last_photo_time; // last time a photo was taken
bool _trigger_pending; // true when we have delayed take_picture
struct Location _last_location; struct Location _last_location;
uint16_t _image_index; // number of pictures taken since boot uint16_t _image_index; // number of pictures taken since boot