camera_capture: change topic namings to make logging, mavlink streaming and geotagging easier

msg/camera_trigger.msg

@@ -4,4 +4,4 @@ uint64 timestamp_utc # UTC timestamp
 uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera
 
-# TOPICS camera_trigger camera_trigger_feedback
+# TOPICS camera_trigger camera_trigger_secondary

src/drivers/camera_capture/camera_capture.cpp

@@ -158,11 +158,11 @@ CameraCapture::publish_trigger()
 
 	if (_trigger_pub == nullptr) {
 
-		_trigger_pub = orb_advertise(ORB_ID(camera_trigger_feedback), &trigger);
+		_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
 
 	} else {
 
-		orb_publish(ORB_ID(camera_trigger_feedback), _trigger_pub, &trigger);
+		orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
 	}
 
 }

src/drivers/camera_trigger/camera_trigger.cpp

@@ -183,8 +183,10 @@ private:
 	param_t			_p_interval;
 	param_t			_p_distance;
 	param_t			_p_interface;
+	param_t 		_p_cam_cap_fback;
 
 	trigger_mode_t		_trigger_mode;
+	int32_t _cam_cap_fback;
 
 	camera_interface_mode_t	_camera_interface_mode;
 	CameraInterface		*_camera_interface;  ///< instance of camera interface
@@ -251,6 +253,7 @@ CameraTrigger::CameraTrigger() :
 	_trigger_pub(nullptr),
 	_cmd_ack_pub(nullptr),
 	_trigger_mode(TRIGGER_MODE_NONE),
+	_cam_cap_fback(0),
 	_camera_interface_mode(CAMERA_INTERFACE_MODE_GPIO),
 	_camera_interface(nullptr)
 {
@@ -269,12 +272,14 @@ 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);
 	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_cam_cap_fback, (int32_t *)&_cam_cap_fback);
 
 	switch (_camera_interface_mode) {
 #ifdef __PX4_NUTTX
@@ -315,7 +320,13 @@ CameraTrigger::CameraTrigger() :
 
 	// 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);
+
+	if (!_cam_cap_fback) {
+		_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+
+	} else {
+		_trigger_pub = orb_advertise(ORB_ID(camera_trigger_secondary), &trigger);
+	}
 
 }
 
@@ -763,7 +774,12 @@ CameraTrigger::engage(void *arg)
 	trigger.seq = trig->_trigger_seq;
 	trigger.feedback = false;
 
-	orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
+	if (!trig->_cam_cap_fback) {
+		orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
+
+	} else {
+		orb_publish(ORB_ID(camera_trigger_secondary), trig->_trigger_pub, &trigger);
+	}
 
 	// increment frame count
 	trig->_trigger_seq++;

src/modules/camera_feedback/camera_feedback.cpp

@@ -122,12 +122,7 @@ CameraFeedback::stop()
 void
 CameraFeedback::task_main()
 {
-	if (!_camera_capture_feedback) {
-		_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
-
-	} else {
-		_trigger_sub = orb_subscribe(ORB_ID(camera_trigger_feedback));
-	}
+	_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
 
 	// Polling sources
 	struct camera_trigger_s trig = {};
@@ -157,12 +152,7 @@ CameraFeedback::task_main()
 		/* trigger subscription updated */
 		if (fds[0].revents & POLLIN) {
 
-			if (!_camera_capture_feedback) {
-				orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
-
-			} else {
-				orb_copy(ORB_ID(camera_trigger_feedback), _trigger_sub, &trig);
-			}
+			orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
 
 			/* update geotagging subscriptions */
 			orb_check(_gpos_sub, &updated);
@@ -213,7 +203,7 @@ CameraFeedback::task_main()
 
 			capture.q[3] = att.q[3];
 
-			// Indicate that whether capture feedback from camera is available
+			// Indicate whether capture feedback from camera is available
 			// What is case 0 for capture.result?
 			if (!_camera_capture_feedback) {
 				capture.result = -1;

src/modules/logger/logger.cpp

@@ -621,6 +621,7 @@ void Logger::add_default_topics()
 	add_topic("battery_status", 500);
 	add_topic("camera_capture");
 	add_topic("camera_trigger");
+	add_topic("camera_trigger_secondary");
 	add_topic("cpuload");
 	add_topic("distance_sensor", 100);
 	add_topic("ekf2_innovations", 200);