dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

camera_trigger : don't advertise garbage

This commit is contained in:
Mohammed Kabir 2017-04-25 00:43:55 +02:00 committed by Lorenz Meier
parent 3ebfb0cd27
commit b5ce55bab6
1 changed files with 10 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
src/drivers/camera_trigger/camera_trigger.cpp
View File

@ -289,13 +289,6 @@ CameraTrigger::CameraTrigger() :
param_set(_p_activation_time, &(_activation_time));
}
// Advertise topics
struct camera_trigger_s report = {};
struct vehicle_command_ack_s ack = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &report);
_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
}
CameraTrigger::~CameraTrigger()
@ -609,7 +602,14 @@ CameraTrigger::cycle_trampoline(void *arg)
command_ack.command = cmd.command;
command_ack.result = cmd_result;
orb_publish(ORB_ID(vehicle_command_ack), trig->_cmd_ack_pub, &command_ack);
if (trig->_cmd_ack_pub == nullptr) {
trig->_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
vehicle_command_ack_s::ORB_QUEUE_LENGTH);
} else {
orb_publish(ORB_ID(vehicle_command_ack), trig->_cmd_ack_pub, &command_ack);
}
}
work_queue(LPWORK, &_work, (worker_t)&CameraTrigger::cycle_trampoline,
@ -631,7 +631,8 @@ CameraTrigger::engage(void *arg)
report.seq = trig->_trigger_seq++;
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &report);
int instance_id = 0;
orb_publish_auto(ORB_ID(camera_trigger), &trig->_trigger_pub, &report, &instance_id, ORB_PRIO_DEFAULT);
}
void