From df037d97c152a16ca17ad0d84e5bacdd264093ba Mon Sep 17 00:00:00 2001 From: Mohammed Kabir Date: Fri, 22 May 2015 14:24:54 +0530 Subject: [PATCH] camera trigger : remove redundant timestamps --- src/modules/camera_trigger/camera_trigger.cpp | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/src/modules/camera_trigger/camera_trigger.cpp b/src/modules/camera_trigger/camera_trigger.cpp index 0ee93128e4..883048ba0c 100644 --- a/src/modules/camera_trigger/camera_trigger.cpp +++ b/src/modules/camera_trigger/camera_trigger.cpp @@ -105,8 +105,6 @@ private: uint32_t _trigger_seq; bool _trigger_enabled; - hrt_abstime _trigger_timestamp; - int _sensor_sub; int _vcommand_sub; @@ -151,7 +149,6 @@ CameraTrigger::CameraTrigger() : _transfer_time(0.0f), _trigger_seq(0), _trigger_enabled(true), - _trigger_timestamp(0), _sensor_sub(-1), _vcommand_sub(-1), _trigger_pub(-1), @@ -273,12 +270,9 @@ CameraTrigger::poll(void *arg) hrt_call_after(&trig->_pollcall, 1000, (hrt_callout)&CameraTrigger::poll, trig); return; } - - - if (hrt_elapsed_time(&trig->_trigger_timestamp) >= (trig->_transfer_time + trig->_integration_time)*1000 ) { - + else + { engage(trig); - trig->_trigger_timestamp = hrt_absolute_time(); hrt_call_after(&trig->_firecall, trig->_activation_time*1000, (hrt_callout)&CameraTrigger::disengage, trig); orb_copy(ORB_ID(sensor_combined), trig->_sensor_sub, &trig->_sensor); @@ -291,6 +285,7 @@ CameraTrigger::poll(void *arg) } else { trig->_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trig->_trigger); } + hrt_call_after(&trig->_pollcall, (trig->_transfer_time + trig->_integration_time)*1000, (hrt_callout)&CameraTrigger::poll, trig); }