From 42afc882859d1ed26af919b96b7d08640212b9a7 Mon Sep 17 00:00:00 2001
From: DanielePettenuzzo <daniele@px4.io>
Date: Sun, 19 Aug 2018 19:02:48 +0200
Subject: [PATCH] add camera trigger feedback (input capture when camera
actually takes the photo)
---
ROMFS/px4fmu_common/init.d/rcS | 12 +++++++-----
src/drivers/camera_capture/camera_capture.cpp | 17 +++++++++++++----
src/drivers/camera_capture/camera_capture.hpp | 2 ++
src/drivers/camera_trigger/camera_trigger.cpp | 15 +++++++++++----
.../camera_feedback/camera_feedback_params.c | 12 ++++++++++++
5 files changed, 45 insertions(+), 13 deletions(-)
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index e9f0a01efa..4ca0fcfd73 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -377,11 +377,13 @@ else
fi
# Camera capture driver
- if camera_capture start
- then
- set FMU_MODE pwm4
- set AUX_MODE pwm4
- camera_capture on
+ if param compare CAM_HSHOE_FBACK 1
+ if camera_capture start
+ then
+ set FMU_MODE pwm4
+ set AUX_MODE pwm4
+ camera_capture on
+ fi
fi
#
diff --git a/src/drivers/camera_capture/camera_capture.cpp b/src/drivers/camera_capture/camera_capture.cpp
index 4366b39848..5c1e50ce39 100644
--- a/src/drivers/camera_capture/camera_capture.cpp
+++ b/src/drivers/camera_capture/camera_capture.cpp
@@ -53,6 +53,7 @@ CameraCapture::CameraCapture() :
_trigger_pub(nullptr),
_command_ack_pub(nullptr),
_command_sub(-1),
+ _hotshoe_trigger_feedback(false),
_capture_seq(0),
_last_fall_time(0),
_last_exposure_time(0),
@@ -65,8 +66,13 @@ CameraCapture::CameraCapture() :
_p_strobe_delay = param_find("CAM_CAP_DELAY");
param_get(_p_strobe_delay, &_strobe_delay);
- struct camera_trigger_s trigger = {};
- _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+ _p_hotshoe_trigger_feedback = param_find("CAM_HSHOE_FBACK");
+ param_get(_p_hotshoe_trigger_feedback, &_hotshoe_trigger_feedback);
+
+ if (_hotshoe_trigger_feedback != 0) {
+ struct camera_trigger_s trigger = {};
+ _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+ }
}
CameraCapture::~CameraCapture()
@@ -85,7 +91,9 @@ CameraCapture::capture_callback(uint32_t chan_index,
trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2); // Get timestamp of mid-exposure
trigger.seq = _capture_seq++;
- orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
+ if (_hotshoe_trigger_feedback != 0) {
+ orb_publish(ORB_ID(camera_trigger), _trigger_pub, &trigger);
+ }
_last_exposure_time = edge_time - _last_fall_time;
}
@@ -201,7 +209,8 @@ void
CameraCapture::start()
{
// start to monitor at low rates for capture control commands
- work_queue(LPWORK, &_work, (worker_t)&CameraCapture::cycle_trampoline, this, USEC2TICK(1)); // TODO : is this low rate??!
+ work_queue(LPWORK, &_work, (worker_t)&CameraCapture::cycle_trampoline, this,
+ USEC2TICK(1)); // TODO : is this low rate??!
}
void
diff --git a/src/drivers/camera_capture/camera_capture.hpp b/src/drivers/camera_capture/camera_capture.hpp
index 1405f7d696..71b3deca27 100644
--- a/src/drivers/camera_capture/camera_capture.hpp
+++ b/src/drivers/camera_capture/camera_capture.hpp
@@ -112,6 +112,8 @@ private:
// Parameters
param_t _p_strobe_delay;
float _strobe_delay;
+ param_t _p_hotshoe_trigger_feedback;
+ int32_t _hotshoe_trigger_feedback;
// Signal capture statistics
uint32_t _capture_seq;
diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
index 3a4cc3d938..75b61a68de 100644
--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -171,6 +171,7 @@ private:
bool _turning_on;
matrix::Vector2f _last_shoot_position;
bool _valid_position;
+ int32_t _hotshoe_trigger_feedback;
int _command_sub;
int _lpos_sub;
@@ -183,6 +184,7 @@ private:
param_t _p_interval;
param_t _p_distance;
param_t _p_interface;
+ param_t _p_hotshoe_trigger_feedback;
trigger_mode_t _trigger_mode;
@@ -246,6 +248,7 @@ CameraTrigger::CameraTrigger() :
_turning_on(false),
_last_shoot_position(0.0f, 0.0f),
_valid_position(false),
+ _hotshoe_trigger_feedback(0),
_command_sub(-1),
_lpos_sub(-1),
_trigger_pub(nullptr),
@@ -269,12 +272,14 @@ CameraTrigger::CameraTrigger() :
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_interface = param_find("TRIG_INTERFACE");
+ _p_hotshoe_trigger_feedback = param_find("CAM_HSHOE_FBACK");
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_distance, &_distance);
param_get(_p_mode, (int32_t *)&_trigger_mode);
param_get(_p_interface, (int32_t *)&_camera_interface_mode);
+ param_get(_p_hotshoe_trigger_feedback, &_hotshoe_trigger_feedback);
switch (_camera_interface_mode) {
#ifdef __PX4_NUTTX
@@ -313,9 +318,11 @@ CameraTrigger::CameraTrigger() :
param_set_no_notification(_p_activation_time, &(_activation_time));
}
- // Advertise critical publishers here, because we cannot advertise in interrupt context
- struct camera_trigger_s trigger = {};
- _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+ if (_hotshoe_trigger_feedback == 0) {
+ // Advertise critical publishers here, because we cannot advertise in interrupt context
+ struct camera_trigger_s trigger = {};
+ _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
+ }
}
@@ -743,7 +750,7 @@ CameraTrigger::engage(void *arg)
// Trigger the camera
trig->_camera_interface->trigger(true);
- if (trig->_test_shot) {
+ if (trig->_test_shot || (trig->_hotshoe_trigger_feedback != 0)) {
// do not send messages or increment frame count for test shots
return;
}
diff --git a/src/modules/camera_feedback/camera_feedback_params.c b/src/modules/camera_feedback/camera_feedback_params.c
index b6edcff77f..b420c5fd87 100644
--- a/src/modules/camera_feedback/camera_feedback_params.c
+++ b/src/modules/camera_feedback/camera_feedback_params.c
@@ -50,3 +50,15 @@
* @group Camera Control
*/
PARAM_DEFINE_INT32(CAM_FBACK_MODE, 0);
+
+
+/**
+ * Camera feedback from hotshoe
+ *
+ * Enables trigger feedback from hotshoe on camera..
+ *
+ * @boolean
+ * @group Camera Control
+ * @reboot_required true
+ */
+PARAM_DEFINE_INT32(CAM_HSHOE_FBACK, 0);
\ No newline at end of file
--
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