From 82dc3820955b1252dbd8e0c347dab23791ac3ec2 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sat, 8 Aug 2015 14:14:48 +0200
Subject: [PATCH] Camera trigger: Fix param handle names, enable trigger if
 mode set to > 1

---
 src/drivers/camera_trigger/camera_trigger.cpp | 31 ++++++++++++-------
 .../camera_trigger/camera_trigger_params.c    | 18 ++---------
 2 files changed, 23 insertions(+), 26 deletions(-)

diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
index 2f04c7117a..d585e41c4a 100644
--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -108,6 +108,7 @@ private:
 	int 			_gpio_fd;
 
 	int 			_polarity;
+	int			_mode;
 	float 			_activation_time;
 	float  			_interval;
 	uint32_t 		_trigger_seq;
@@ -117,10 +118,10 @@ private:
 
 	orb_advert_t		_trigger_pub;
 
-	param_t polarity;
-	param_t activation_time;
-	param_t interval;
-	param_t transfer_time ;
+	param_t _p_polarity;
+	param_t _p_mode;
+	param_t _p_activation_time;
+	param_t _p_interval;
 
 	static constexpr uint32_t _gpios[6] = {
 		GPIO_GPIO0_OUTPUT,
@@ -161,6 +162,7 @@ CameraTrigger::CameraTrigger() :
 	_disengagecall {},
 	_gpio_fd(-1),
 	_polarity(0),
+	_mode(0),
 	_activation_time(0.5f /* ms */),
 	_interval(100.0f /* ms */),
 	_trigger_seq(0),
@@ -171,9 +173,10 @@ CameraTrigger::CameraTrigger() :
 	memset(&_work, 0, sizeof(_work));
 
 	// Parameters
-	polarity = param_find("TRIG_POLARITY");
-	interval = param_find("TRIG_INTERVAL");
-	activation_time = param_find("TRIG_ACT_TIME");
+	_p_polarity = param_find("TRIG_POLARITY");
+	_p_interval = param_find("TRIG_INTERVAL");
+	_p_activation_time = param_find("TRIG_ACT_TIME");
+	_p_mode = param_find("TRIG_ACT_TIME");
 
 	struct camera_trigger_s	trigger = {};
 
@@ -206,9 +209,10 @@ void
 CameraTrigger::start()
 {
 
-	param_get(polarity, &_polarity);
-	param_get(activation_time, &_activation_time);
-	param_get(interval, &_interval);
+	param_get(_p_polarity, &_polarity);
+	param_get(_p_activation_time, &_activation_time);
+	param_get(_p_interval, &_interval);
+	param_get(_p_mode, &_mode);
 
 	stm32_configgpio(_gpios[_pin - 1]);
 
@@ -223,6 +227,11 @@ CameraTrigger::start()
 		stop();
 	}
 
+	// enable immediate if configured that way
+	if (_mode > 1) {
+		control(true);
+	}
+
 	// start to monitor at high rate for trigger enable command
 	work_queue(LPWORK, &_work, (worker_t)&CameraTrigger::cycle_trampoline, this, USEC2TICK(1));
 }
@@ -266,7 +275,7 @@ CameraTrigger::cycle_trampoline(void *arg)
 			// Set trigger rate from command
 			if (cmd.param2 > 0) {
 				trig->_interval = cmd.param2;
-				param_set(trig->interval, &(trig->_interval));
+				param_set(trig->_p_interval, &(trig->_interval));
 			}
 
 			if (cmd.param1 < 1.0f) {
diff --git a/src/drivers/camera_trigger/camera_trigger_params.c b/src/drivers/camera_trigger/camera_trigger_params.c
index 177844ff59..2098773992 100644
--- a/src/drivers/camera_trigger/camera_trigger_params.c
+++ b/src/drivers/camera_trigger/camera_trigger_params.c
@@ -41,29 +41,17 @@
 #include <nuttx/config.h>
 #include <systemlib/param/param.h>
 
-/**
- * Camera trigger shutter integration time
- *
- * This parameter sets the time the shutter is open on the camera.
- *
- * @unit milliseconds
- * @min 0.0
- * @max 500.0
- * @group Camera trigger
- */
-PARAM_DEFINE_FLOAT(TRIG_INT_TIME, 1.0f);
-
 /**
  * Camera trigger interval
  *
  * This parameter sets the time between two consecutive trigger events
  *
  * @unit milliseconds
- * @min 15.0
- * @max 33.0
+ * @min 4.0
+ * @max 10000.0
  * @group Camera trigger
  */
-PARAM_DEFINE_FLOAT(TRIG_INTERVAL, 15.0f);
+PARAM_DEFINE_FLOAT(TRIG_INTERVAL, 40.0f);
 
 /**
  * Camera trigger polarity