From 4876bb2582d5daac2a0b9b1a1369d60f42524cf2 Mon Sep 17 00:00:00 2001
From: DanielePettenuzzo <daniele@px4.io>
Date: Fri, 21 Sep 2018 17:57:31 +0200
Subject: [PATCH] camera feedback: fix camera_trigger subscription
---
src/modules/camera_feedback/camera_feedback.cpp | 17 ++++++++++++++---
1 file changed, 14 insertions(+), 3 deletions(-)
diff --git a/src/modules/camera_feedback/camera_feedback.cpp b/src/modules/camera_feedback/camera_feedback.cpp
index 5536b2b976..224d7af728 100644
--- a/src/modules/camera_feedback/camera_feedback.cpp
+++ b/src/modules/camera_feedback/camera_feedback.cpp
@@ -157,7 +157,12 @@ CameraFeedback::task_main()
/* trigger subscription updated */
if (fds[0].revents & POLLIN) {
- orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
+ if (!_camera_capture_feedback) {
+ orb_copy(ORB_ID(camera_trigger), _trigger_sub, &trig);
+
+ } else {
+ orb_copy(ORB_ID(camera_trigger_feedback), _trigger_sub, &trig);
+ }
/* update geotagging subscriptions */
orb_check(_gpos_sub, &updated);
@@ -208,8 +213,14 @@ CameraFeedback::task_main()
capture.q[3] = att.q[3];
- // Indicate that no capture feedback from camera is available
- capture.result = -1;
+ // Indicate that whether capture feedback from camera is available
+ // What is case 0 for capture.result?
+ if (!_camera_capture_feedback) {
+ capture.result = -1;
+
+ } else {
+ capture.result = 1;
+ }
int instance_id;
--
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