mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.1 KiB
C++
47 lines
1.1 KiB
C++
#include "AP_Camera_Relay.h"
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#if AP_CAMERA_RELAY_ENABLED
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#include <AP_Relay/AP_Relay.h>
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// update - should be called at 50hz
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void AP_Camera_Relay::update()
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{
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if (trigger_counter > 0) {
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trigger_counter--;
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} else {
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AP_Relay *ap_relay = AP::relay();
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if (ap_relay == nullptr) {
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return;
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}
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ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, !_params.relay_on);
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}
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// call parent update
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AP_Camera_Backend::update();
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}
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// entry point to actually take a picture. returns true on success
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bool AP_Camera_Relay::trigger_pic()
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{
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// fail if have not completed previous picture
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if (trigger_counter > 0) {
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return false;
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}
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// exit immediately if no relay is setup
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AP_Relay *ap_relay = AP::relay();
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if (ap_relay == nullptr) {
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return false;
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}
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ap_relay->set(AP_Relay_Params::FUNCTION::CAMERA, _params.relay_on);
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// set counter to move servo to off position after this many iterations of update (assumes 50hz update rate)
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trigger_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);
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return true;
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}
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#endif // AP_CAMERA_RELAY_ENABLED
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