From 3d92364d9eb391d3f0d615df7092d96194e2d5b0 Mon Sep 17 00:00:00 2001 From: Mohammed Kabir Date: Tue, 16 Jun 2015 22:55:05 +0530 Subject: [PATCH] camera trigger : increase free cycling time when we are not enabled --- src/modules/camera_trigger/camera_trigger.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/modules/camera_trigger/camera_trigger.cpp b/src/modules/camera_trigger/camera_trigger.cpp index a81607e950..bfbd770c8b 100644 --- a/src/modules/camera_trigger/camera_trigger.cpp +++ b/src/modules/camera_trigger/camera_trigger.cpp @@ -166,7 +166,7 @@ CameraTrigger::CameraTrigger() : memset(&_pollcall, 0, sizeof(_pollcall)); memset(&_firecall, 0, sizeof(_firecall)); - /* Parameters */ + // Parameters polarity = param_find("TRIG_POLARITY"); activation_time = param_find("TRIG_ACT_TIME"); integration_time = param_find("TRIG_INT_TIME"); @@ -193,17 +193,17 @@ CameraTrigger::start() stm32_configgpio(GPIO_GPIO0_OUTPUT); if(_polarity == 0) { - stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1); /* GPIO pin pull high */ + stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1); // GPIO pin pull high } else if(_polarity == 1) { - stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0); /* GPIO pin pull low */ + stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0); // GPIO pin pull low } else { warnx(" invalid trigger polarity setting. stopping."); stop(); } - poll(this); /* Trampoline call */ + poll(this); // Trampoline call } @@ -258,7 +258,7 @@ CameraTrigger::poll(void *arg) } if(!trig->_trigger_enabled) { - hrt_call_after(&trig->_pollcall, 1000, (hrt_callout)&CameraTrigger::poll, trig); + hrt_call_after(&trig->_pollcall, 1e6, (hrt_callout)&CameraTrigger::poll, trig); return; } else @@ -268,7 +268,7 @@ CameraTrigger::poll(void *arg) orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor); - trig->_trigger.timestamp = trig->_sensor.timestamp; /* get IMU timestamp */ + trig->_trigger.timestamp = trig->_sensor.timestamp; // get IMU timestamp trig->_trigger.seq = trig->_trigger_seq++; if (trig->_trigger_pub != nullptr) {