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online command support to enable/disable distance based triggering

This commit is contained in:
Andreas Bircher 2016-02-25 11:40:26 +01:00 committed by Lorenz Meier
parent 4bf11ca06b
commit 261ddb8e21
2 changed files with 30 additions and 11 deletions
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37
src/drivers/camera_trigger/camera_trigger.cpp
View File

@ -372,18 +372,37 @@ CameraTrigger::cycle_trampoline(void *arg)
if (pos.xy_valid) {
// Initialize position if not done yet
math::Vector<2> current_position(pos.x, pos.y);
if (updated && trig->_mode == 4) {
if (!trig->_valid_position) {
trig->_last_shoot_position = current_position;
trig->_valid_position = pos.xy_valid;
// Check update from command
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), trig->_vcommand_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST) {
// Set trigger to false if the set distance is not positive
trig->_trigger_enabled = cmd.param1 > 0.0f;
trig->_distance = cmd.param1;
}
}
// Check that distance threshold is exceeded and the time between last shot is large enough
if ((trig->_last_shoot_position - current_position).length() >= trig->_distance) {
trig->shootOnce();
trig->_last_shoot_position = current_position;
if (trig->_trigger_enabled || trig->_mode < 4) {
// Initialize position if not done yet
math::Vector<2> current_position(pos.x, pos.y);
if (!trig->_valid_position) {
// First time valid position, take first shot
trig->_last_shoot_position = current_position;
trig->_valid_position = pos.xy_valid;
trig->shootOnce();
}
// Check that distance threshold is exceeded and the time between last shot is large enough
if ((trig->_last_shoot_position - current_position).length() >= trig->_distance) {
trig->shootOnce();
trig->_last_shoot_position = current_position;
}
}
} else {

4
src/drivers/camera_trigger/camera_trigger_params.c
View File

@ -77,11 +77,11 @@ PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 0.5f);
/**
* Camera trigger mode
*
* 0 disables the trigger, 1 sets it to enabled on command, 2 always on, 3 distance based
* 0 disables the trigger, 1 sets it to enabled on command, 2 always on, 3 distance based, 4 distance based enabled on command
*
*
* @min 0
* @max 3
* @max 4
* @group Camera trigger
*/
PARAM_DEFINE_INT32(TRIG_MODE, 0);