forked from Archive/PX4-Autopilot
camera feedback: remove CAM_FBACK_MODE param. CAM_CAP_FBACK from camera capture driver will be used instead.
This commit is contained in:
DanielePettenuzzo
Daniel Agar
parent
011a7f26f4
commit
6b65eb2225
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@ -204,7 +204,6 @@ fi
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if param greater TRIG_MODE 0
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then
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camera_trigger start
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param set CAM_FBACK_MODE 1
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camera_feedback start
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fi
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@ -372,7 +372,6 @@ else
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fi
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camera_trigger start
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param set CAM_FBACK_MODE 1
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camera_feedback start
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fi
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@ -53,13 +53,13 @@ CameraFeedback::CameraFeedback() :
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_gpos_sub(-1),
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_att_sub(-1),
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_capture_pub(nullptr),
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_camera_feedback_mode(CAMERA_FEEDBACK_MODE_NONE)
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_camera_capture_feedback(false)
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{
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// Parameters
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_p_feedback = param_find("CAM_FBACK_MODE");
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_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
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param_get(_p_feedback, (int32_t *)&_camera_feedback_mode);
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param_get(_p_camera_capture_feedback, (int32_t *)&_camera_capture_feedback);
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}
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@ -122,15 +122,13 @@ CameraFeedback::stop()
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void
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CameraFeedback::task_main()
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{
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// We only support trigger feedback for now
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// This will later be extended to support hardware feedback from the camera.
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if (_camera_feedback_mode != CAMERA_FEEDBACK_MODE_TRIGGER) {
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return;
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if(!_camera_capture_feedback){
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_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
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} else {
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_trigger_sub = orb_subscribe(ORB_ID(camera_trigger_feedback));
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}
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// Polling sources
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_trigger_sub = orb_subscribe(ORB_ID(camera_trigger));
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struct camera_trigger_s trig = {};
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px4_pollfd_struct_t fds[1] = {};
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@ -61,11 +61,6 @@
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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typedef enum : int32_t {
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CAMERA_FEEDBACK_MODE_NONE = 0,
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CAMERA_FEEDBACK_MODE_TRIGGER,
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CAMERA_FEEDBACK_MODE_PWM
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} camera_feedback_mode_t;
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class CameraFeedback
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{
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@ -103,9 +98,9 @@ private:
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orb_advert_t _capture_pub;
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param_t _p_feedback;
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param_t _p_camera_capture_feedback;
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camera_feedback_mode_t _camera_feedback_mode;
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int32_t _camera_capture_feedback;
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void task_main();
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@ -1,52 +0,0 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file camera_feedback_params.c
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* Camera feedback parameters
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*
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* @author Mohammed Kabir <kabir@uasys.io>
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*/
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/**
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* Camera feedback mode
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*
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* Sets the camera feedback mode.
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*
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* @value 0 Disabled
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* @value 1 Feedback on trigger
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* @min 0
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* @max 1
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* @group Camera Control
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*/
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PARAM_DEFINE_INT32(CAM_FBACK_MODE, 0);
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