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camera_trigger: remove camera trigger secondary 

camera_trigger: publish trigger when capture feedback is not enabled
This commit is contained in:
Igor Mišić 2021-09-22 10:57:25 +02:00 committed by Beat Küng
parent f41e5985e8
commit 3a148bc777
3 changed files with 2 additions and 6 deletions
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2
msg/camera_trigger.msg
View File

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

5
src/drivers/camera_trigger/camera_trigger.cpp
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@ -320,8 +320,6 @@ CameraTrigger::CameraTrigger() :
if (!_cam_cap_fback) { if (!_cam_cap_fback) {
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger); _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
} else {
_trigger_pub = orb_advertise(ORB_ID(camera_trigger_secondary), &trigger);
} }
} }
@ -846,11 +844,10 @@ CameraTrigger::engage(void *arg)
trigger.feedback = false; trigger.feedback = false;
trigger.timestamp = hrt_absolute_time(); trigger.timestamp = hrt_absolute_time();
// Publish only if _cam_cap_fback is disabled, otherwise, it is published over camera_capture driver
if (!trig->_cam_cap_fback) { if (!trig->_cam_cap_fback) {
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger); 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 // increment frame count

1
src/modules/logger/logged_topics.cpp
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@ -56,7 +56,6 @@ void LoggedTopics::add_default_topics()
add_topic("airspeed_validated", 200); add_topic("airspeed_validated", 200);
add_topic("camera_capture"); add_topic("camera_capture");
add_topic("camera_trigger"); add_topic("camera_trigger");
add_topic("camera_trigger_secondary");
add_topic("cellular_status", 200); add_topic("cellular_status", 200);
add_topic("commander_state"); add_topic("commander_state");
add_topic("cpuload"); add_topic("cpuload");